• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.2
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• pp.168-172
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• 2005

An autopilot system of a ship is very important for a safe and convenient navigation, which is realized with getting an azimuth data from a gyrocompass, a magnetic compass and a GPS(Global Positioning System) compass. Magnetic compass an azimuth error is generated by a vessel magnetism material such as steels. The magnetic pole is detected by the magnetic field sensor, it does not coincide with the true north, therefore, the detected azimuth data can not but accompany error. In this paper, in order to detect the minimum change of azimuth data which generates errors of azimuth information, a search algorithm using the Kalman Filtering method is utilized. The digital electronic compass is designed with the integration algorithm using the merits of an earth's magnetic field sensor and a GPS receiver.

• Journal of the Korean Institute of Navigation
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• v.11 no.2
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• pp.99-109
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• 1987

• Journal of the Korean Institute of Navigation
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• v.15 no.2
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• pp.1-11
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• 1991

The ship's magnetic compass even if corrected is feasible to indicate the erroneous information due to the change of this ship's magnetism. But if the north-seeking sensor of the transmitting magnetic compass system is located where the effect of the ship's magnetism is the least , that problem is expected to be removed. In this paper, as a basic research to enhance the accuracy and the stability of the ship's magnetic compass by placing the north-seeking sensor at the adequate location, the theoretical model for the overall ship's magnetism were studied from the macroscopic viewpoint, The parameters of the theoretical model were determined by the least square method on the assumption that the overall magnetism of a ship can be regarded as that of the prolate spheroidal magnetic body. The agreement between the modelled and the observed values was found to be good.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.04a
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• pp.37-40
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• 2007

Digital Magnetic Compass(DMC)는 실내의 전자기적 요소나 강한 자성체 건물구조에서는 쉽게 방해를 받던 Compass보다 실내에서 간섭에 강한 특징을 가지고 있다. 그리고 적외선 센서와 초음파 센서는 서로 물체와의 거리를 보완적으로 계산해 줄뿐만 아니라 값싼 센서로서 경제적인 이점을 가지고 있어 Simultaneous Localization and Mapping(SLAM)에서 많이 사용하고 있다. 본 논문에서는 자율 이동 로봇의 구동에서 Digital Magnetic Compass(DMC)와 Ultrasonic Sensors을 이용한 SLAM의 구현에 대해 연구하였다. 로봇의 특성상 한정된 Sensing 데이터만으로 방향과 위치를 파악하고 그 데이터 값으로 가능한 빠르게 Localization을 하여야 한다. 그러므로 자율 이동 로봇에서의 SLAM 적용함으로 Localization 구현과 Mapping을 수행하고 SLAM 구현상의 주된 연구 중의 하나인 Kid Napping 문제에 중점을 두고 연구한다. 특히, Localization 구현을 수행을 위한 데이터의 Sensing 방법으로 적외선 센서와 초음파 센서를 같이 사용하였고 비슷한 위치의 데이터 값이 주어지거나 사전 정보 없는 상태에서는 로봇의 상태를 파악하기 위해서 DMC을 같이 사용하여 더 정확한 위치를 측정에 활용하였다.

• Proceedings of KOSOMES biannual meeting
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• 2006.11a
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• pp.137-141
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• 2006

To consider the practical use of a ship's Digital Compass in earth's magnetic field high accurate Deviation and 얘 nation are required to obtain ship's true bearing. Variation can be obtain with World Magnetic Model (WMM) using the Earth's spherical harmonic model of the main field and of the secular variation at any location around the earth. Deviation can be obtain with deviation analysis and synthesis method based on the Poisson equations. As results of deviation and variation corrections to the Digital Compass, high accurate true bearing is obtained. This experiments are carried out during in the navigation of training ship 'SAE-NU-RI'.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.2
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• pp.865-871
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• 2011

Presently, the location and direction information are certainly needed for the autonomous vehicle of the ship. Among them, the direction information is a essential elements to automatic steering system. And the gyro-compass, the magnetic-compass and the GPS compass are the sensor indicating the direction. The gyro-compasses are mainly used in the large-sized ship of the GMDSS(Global Maritime Distress & Safety System). The precision and the reliability of the gyro-compasses are excellent but big volume and high price are disadvantage. The magnetic-compass has relatively fine precision and inexpensive price. However, the disadvantage is in the influence by the magnetism object including the steel structure of a ship, and etc. In the case of the GPS compass, the true north is indicated according to the change of the location information but in case of the minimum number of satellites or stopping of a ship or exercise in the error range, the exact direction cannot be obtained. In this paper, the performance of the GPS compass was improved by using the least-square curve fitting method for the mutual trade off of the angle sensor. The algorithm which improves the precision of an azimuth by applying the weighted value according to the size of covariance error was proposed with GPS-compass and magnetic compass. The characteristic and the performance of the proposed algorithm were analyzed and verified through experimentation. The applicability of the proposed algorithm was shown through the experimental result.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.19 no.2
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• pp.111-116
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• 1983

In order to furnish the fundamental data for the domestic production of magnetic compass and the prescription of standardization about it in Korea, authors made the helmholtz coil and investigated the characteristics of them. Subsequently, the damping curves of T190 and T165 compasses in the helmholtz coil were measured and analyzed the performance of those compass. The results obtained are as follows; 1. The relation between electric current (I sub I) to flow in the helmholtz coils, that the thickness of coil is 1mm, diameter 1m, winding number 117, and intensity of magnetic field is presented as follows. Vertical magnetic force: Z(Gauss)=0.34+1.506 I sub(i) Horizontal magnetic force: H(Gauss)=0.183+1.506 I sub(i) 2. Period of T190 compass is longer than T165 compass in all horizontal magnetic force. In the amplitude, the former is larger than the latter above 0.08 Gauss, but this phenomenon is opposed to that below 0.08 Gauss. 3. As the porizontal magnetic force is intensive, period of magnetic compass is short, amplitude is large, and damping degree and damping factor are small. The time elapsed to the principal points of damping curve is proportional to the -0.65 power of the horizontal magnetic force.

• Journal of the Korean Institute of Navigation
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• v.10 no.1
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• pp.81-100
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• 1986

Self-contained portable remote-indicating magnetic compass was designed and tested. Its sensing part consists of main scale disk of rotary encoder with photo-etched 180, oopaque slits and three pairs of light sources and detectors seperated by a transparent index scale, so that any angular deflection of main scale disk against the bowl may be detected optically. The outputs from the sensing part are transformed into digital ship's course indication by electronics unit which consists of operational amplifier, phase discriminator, up-down counter and counting starter circuit. The results from testign the above compass with turntable at variable rate of turn are as following : 1) The main scale disk deflection against the bowl can be detected without any disturbing influence to the freedom of its north-seeking function. 2) The digital indication resolution is found to be $\circ \pm$1 degree. 3) Misrepresenting indication can be avoided by ensuring dimension uniformity and arrangement accuracy of slits on main and index scale disks and by centering pivot in the encoder disk. 4) Indication resolution should be improved by modifying the signal processing and by doubling the number of slits on compass card. 5) Further study should be made on developing non-conductive compass liquid, analogue repeater driving system and more compact processing element.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.21 no.1
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• pp.28-34
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• 1985

This paper describes that the characteristic of movement and the performance of the directional system of the liquid magnetic compass analyze and investigate in the kinds of compass and the coefficient of viscosity of the liquid of compass, which the horizontal magnetic field of the geo-magnetic is varied from the equator to the polar region (0.39 gauss-0.03 gauss) by use of apparatus generating artificial magnetic fields. The results are as follows; 1. It is confirmed that the measured values and the calculated values on the characteristic of damping curve by the type of compass and coefficient of viscosity has almost agree with one another. 2. As the horizontal magnetic force geo-magnetic field approaches around the equator (0.39 gauss), the horizontal magnetic field get near the polar region (0.03 gauss), its period is to be longer and the compass card prove not to be more stabilized. 3. The coefficient of viscosity of the liquid in the A, B, C, D and E compasses used in the experiment is estimated 0.03 poises, 0.02 poises, 0.02 poises, 0.015 poises and 0.048 poises respectively by computer simulation.

• Proceedings of the KIEE Conference
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• 2008.04a
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• pp.69-70
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• 2008

통합 항법 시스템 구현시 각 센서 측정치의 동기를 맞추어 칼만 필터의 상태변호를 갱신을 해야 하지만, 상용 센서를 사용 할 경우 각 센서 측정치의 출력 동기를 맞추기 어려울 뿐만 아니라, 통합 항법 컴퓨터까지의 전송 과정에서 지연시간이 생기므로 특히 고기동 항체에서는 센서측정치 비동기로 인하여 항법 성능이 저하가 커진다. 본 논문에서는 GPS/INS/Magnetic compass 통합 항번 시스템의 동기 방법을 제안한다. 이 방법은 센서 하드웨어의 변경이 필요 없이 동기를 맞출 수 있어 상용 센서를 사용하여 항법 시스템을 개발할 때 유용하게 사용 할 수 있다. 이 방법의 성능을 검증하기 위해 고속 항체의 시나리오 구성하고 모의실험을 통해 유효성을 확인 할 수 있었다.