• Journal of Electrical Engineering and Technology
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• v.7 no.4
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• pp.615-625
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• 2012

GPS attitude outputs 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 output is applied to the attitude determination GPS/INS (ADGPS/INS) integrated navigation system, the performance of the system can be degraded. This paper proposes an ADGPS/INS integration system using the triple difference carrier phase observables. The proposed integration system contains a cycle slip detection algorithm, in which the inertial information is combined. Computer simulations and flight test were performed to verify effectiveness of the proposed navigation system. Results show that the proposed system gives an accurate and reliable navigation solution even when the integer ambiguity is not correctly resolved and the cycle slip occurs.

• Journal of Navigation and Port Research
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• v.35 no.8
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• pp.657-665
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• 2011

This study deals with an integrated problem for deciding sequencing and storage location of export containers together at its receiving operation in the container terminal with a perpendicular layout. The preferred storage location of an export container varies with the priority of the corresponding loading operation and the waiting time of an external truck depends on its storage time. This paper proposes the mixed integer programming model considering the expected arrival time and expected finish time of an external truck and the preferred storage location for its loading operation. And we suggest the heuristic algorithm based on a simulated annealing algorithm for real world adaption. We compare the heuristic algorithm with the optimum model in terms of the computation times and total cost and the performance of the heuristic algorithm is analyzed through a numerical experiment.

• Journal of the Society of Naval Architects of Korea
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• v.58 no.2
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• pp.121-128
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• 2021

According to the increasing interest and demand for the Autonomous Surface Vessels (ASV), the autonomous navigation system is being developed such as obstacle detection, avoidance, and path planning. In general, autonomous navigation algorithm controls the ship by detecting the obstacles with various sensors and planning path for collision avoidance. This study aims to construct and prove autonomous algorithm with integrated various sensor using the Robot Operating System (ROS). In this study, the safety zone technique was used to avoid obstacles. The safety zone was selected by an algorithm to determine an obstacle-free area using 2D LiDAR. Then, drift angle of the ship was controlled by the propulsion difference of the port and starboard side that based on PID control. The algorithm performance was verified by participating in the 2020 Korea Autonomous BOAT (KABOAT).

• Journal of Advanced Navigation Technology
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• v.24 no.1
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• pp.16-27
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• 2020

This paper investigates the applicability of optical flow information for unmanned aerial vehicle (UAV) navigation under environments where global navigation satellite system (GNSS) is unavailable. Since the optical flow information is one of important measurements to estimate horizontal velocity and position, accuracy of the optical flow information must be guaranteed. So a navigation algorithm, which can estimate and cancel biases that the optical flow information may have, is suggested to improve the estimation performance. In order to apply and verify the proposed algorithm, an integrated simulation environment is built by designing a guidance, navigation, and control (GNC) system. Numerical simulations are implemented to analyze the navigation performance using this environment.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.5
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• pp.454-464
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• 2001

In this paper, a personal navigation system is developed using GPS and dead reckoning sensors. This personal navigation system can be used to track a person inside a building, on an urban street, and in the mountain area. GPS can provide accurate absolute position information, but it cant be used without receiving enough satellite signals. Although the inertial sensors such as gyro an accelerometer and be used without this diggiculty, the inertial sensors severely suffer from their drift errors and the magne-tometer can be easily distorted by surrounding electromagnetic field. GPS and DR sensors can be inte-grated together to overcome these problems. A new personal navigation system that can be carried wit person is developed. A pedometer. actually vertically mounted accelerometer, detects ones footstep and gyro detects heading angle. These DR sensors are integrated with GPS and the humans walking pattern provides additional navigation information for compensating the DR sensors. The field testes are performed to evaluated the proposed navigation algorithm.

• Journal of the Korea Society for Simulation
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• v.14 no.2
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• pp.93-103
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• 2005

This paper presents characteristics of a virtual human's navigation using a limited perception-based mapping. Previous approaches to virtual human navigation have used an omniscient perception requiring full layout of a virtual environment in advance. However, these approaches have a limitation on being a fundamental solution for a human-likeness of a virtual human, because behaviors of humans are basically based on their limited perception instead of omniscient perception. In this paper, we integrated Hill's mapping algorithm with a virtual human to experiment virtual human's navigation with the limited perception. This approach does not require full layout of the virtual environment, 360-degree's field of view, and vision through walls. In addition to static objects such as buildings, we consider enemy emergence that can affect an virtual human's navigation. The enemy emergence is used as the variable on the experiment of this present research. As the number of enemies varies, the changes in arrival rate and time taken to reach the goal position were observed. The virtual human navigates by two conditions. One is to take the shortest path to the goal position, and the other is to avoid enemies when the virtual human encounters them. The acquired result indicates that the virtual human's navigation corresponds to a human cognitive process, and thus this research can be a framework for human-likeness of virtual humans.

• Journal of Navigation and Port Research
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• v.48 no.2
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• pp.125-136
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• 2024

This research presents an innovative integrated ethanol solid oxide fuel cell (SOFC) system designed for applications in marine vessels. The system incorporates an exhaust gas heat recovery mechanism. The high-temperature exhaust gas produced by the SOFC is efficiently recovered through a sequential process involving a gas turbine (GT), a regenerative system, steam Rankine cycles, and a waste heat boiler (WHB). A comprehensive thermodynamic analysis of this integrated SOFC-GT-SRC-WHB system was performed. A simulation of this proposed system was conducted using Aspen Hysys V12.1, and a genetic algorithm was employed to optimize the system parameters. Thermodynamic equations based on the first and second laws of thermodynamics were utilized to assess the system's performance. Additionally, the exergy destruction within the crucial system components was examined. The system is projected to achieve an energy efficiency of 58.44% and an exergy efficiency of 29.43%. Notably, the integrated high-temperature exhaust gas recovery systems contribute significantly, generating 1129.1 kW, which accounts for 22.9% of the total power generated. Furthermore, the waste heat boiler was designed to produce 900.8 kg/h of superheated vapor at 170 ℃ and 405 kP a, serving various onboard ship purposes, such as heating fuel oil and accommodations for seafarers and equipment.

• Journal of Advanced Navigation Technology
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• v.25 no.4
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• pp.293-298
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• 2021

In general, the guided weapon seeker and the guided control device process the target, search, recognition, and capture information to indicate the state of the guided missile, and play a role in controlling the operation and control of the guided weapon. The signals required for guided weapons are gaze change rate, visual signal, and end-stage fuselage orientation signal. In order to process the complex and difficult-to-process missile signals of recent missiles in real time, it is necessary to increase the data processing speed of the missiles. This study showed the processing speed after applying the stop and go and inverse enumeration algorithm among the parallel algorithm methods of PINQ and comparing the processing speed of the signal data required for the guided missile in real time using the guided missile inspection program. Based on the derived data processing results, we propose an effective method for processing missile data when applying a parallel processing algorithm by comparing the processing speed of the multi-core processing method and the single-core processing method, and the CPU core utilization rate.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.9
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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.

• Bulletin of the Korean Space Science Society
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• 2008.10a
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• pp.26.3-26.3
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• 2008

This research develops a GPS-based formation-flying testbed (FFTB) for formation navigation and control. The FFTB is a simulator in which spacecraft simulation and modeling software and loop test capabilities are integrated for test and evaluation of spacecraft navigation and formation control technologies. The FFTB is composed of a GPS measurement simulation computer, flight computer, environmental computer for providing true environment data and 3D visualization computer. The testbed can be simulated with one to two spacecraft, thus enabling a variety of navigation and control algorithms to be evaluated. In a formation flying simulation, GPS measurement are generated by a GPS measurement simulator to produce pseudorange, carrier phase measurements, which are collected and exchanged by the flight processors and subsequently processed in a navigation filter to generate relative and/or absolute state estimates. These state estimates are the fed into control algorithm, which are used to generate maneuvers required to maintain the formation. In this manner, the flight processor also serves as a test platform for candidate formation control algorithm. Such maneuvers are fed back through the controller and applied to the modeled truth trajectories to close simulation loop. Currently, The FFTB has a closed-loop capability of simulating a satellite navigation solution using software based GPS measurement, we move forward to improve using SPIRENT GPS RF signal simulator and space-based GPS receiver