• Journal of the Institute of Electronics Engineers of Korea CI
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• v.39 no.5
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• pp.45-55
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• 2002

In this paper, we describe an outdoor augmented reality system using GPS tracking for position and attitude information. The system consist of a remote mobile operation unit and a ground operation unit. The remote mobile operation unit includes a real-time image acquiring device, a GPS tracking device, and a wireless data transceiver; the ground operation unit includes a wireless transceiver, a virtual image generating device, and an image superimposing device. The GPS tracking device for measurement of position and attitude of the remote mobile operation unit was designed by TANS Vector and RT-20 for DGPS. The wireless data transceiver was for data transmission between the remote mobile operation unit and the ground operation unit. After the remote mobile operation unit was installed on a vehicle and a helicopter, the system was evaluated to verify its validity in actual applications. It was found that the implemented system could be used for obtaining real-time remote information such as construction simulation, tour guide, broadcasting, disaster observation, or military purpose.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.24 no.3
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• pp.35-40
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• 2024

In this paper, the design, implementation, and analysis of a device capable of transmitting and receiving millimeter-wave signals and performing channel sounding measurements in atmospheric conditions at distances of up to approximately 10km outdoors are presented. The device is expected to be instrumental in studying the propagation characteristics of millimeter-wave frequencies. Utilizing data such as received power levels and power delay profiles (PDPs), comparisons with predicted values using path loss, K-factor, and other propagation models are facilitated. The mobile transceiver unit, integrated onto a vehicle platform, allows for flexible adjustment of transmitter and receiver positions, while synchronization issues with distance are mitigated using a rubidium atomic clock. Furthermore, automatic boresight alignment using scanning techniques is employed to locate the main sector of the antenna.

• Journal of the Korean Society of Marine Environment & Safety
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• v.19 no.6
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• pp.666-673
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• 2013

This paper proposes the performance evaluation test of attitude heading reference system (AHRS) suitable for small high speed autonomous underwater vehicle(AUV). Although IMU can provides the detail attitude information, it is sometime not suitable for small AUV with short operation time in view of price and the electrical power consumption. One of alternative for tactical grade IMU is the AHRS based micro-machined electro mechanical system(MEMS) which can overcome many problems that have inhibited the adoption of inertial system for small AUV such as cost and power consumption. A cost effective and small size AHRS which incorporates measurements from 3-axis MEMS gyroscopes, accelerometers, and 3-axis magnetometers has been developed to provide a complete attitude solution for AUV and the attitude calculation algorithm is derived based the coordinate transform equation and Kalman filter. The developed AHRS was validated through various performance tests as like the magnetometer calibration, operating experiments using land mobile vehicle and flight motion simulator (FMS). The test of magnetometer calibration shows the developed MEMS AHRS is robust to the external magent field change and the test with land vehicle proves the leveling error of developed MEMS AHRS is below $0.5^{\circ}/hr$. The results of FMS test shows the fact that AHRS provides the measurement with $0.5^{\circ}/hr$ error during 5 minutes operation time. These results of performance evaluation tests showed that the developed AHRS provides attitude information which error of roll and pitch are below $1^{\circ}$ and the error of yaw is below $5^{\circ}$ and satisfies the required specification. It is expected that developed AHRS can provide the precise attitude measurement under sea trial with real AUV.

• The Journal of Korea Robotics Society
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• v.8 no.4
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• pp.283-291
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• 2013

Methods for measuring or estimating of ground shape by a laser range finder and a vision sensor(exteroceptive sensors) have critical weakness in terms that these methods need prior database built to distinguish acquired data as unique surface condition for driving. Also, ground information by exteroceptive sensors does not reflect the deflection of ground surface caused by the movement of UGVs. Thereby, UGVs have some difficulties regarding to finding optimal driving conditions for maximum maneuverability. Therefore, this paper proposes a method of recognizing exact and precise ground shape using Inertial Measurement Unit(IMU) as a proprioceptive sensor. In this paper, firstly this method recognizes attitude of a robot in real-time using IMU and compensates attitude data of a robot with angle errors through analysis of vehicle dynamics. This method is verified by outdoor driving experiments of a real mobile robot.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.81-81
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• 2000

We use camera to apply human vision system in measurement. To do that, we need to know about camera parameters. The camera parameters are consisted of internal parameters and external parameters. we can fix scale factor&focal length in internal parameters, we can acquire external parameters. And we want to use these parameters in automatically driven vehicle by using camera. When we observe an camera parameters in respect with that the external parameters are important parameters. We can acquire external parameter as fixing focal length&scale factor. To get lane coordinate in image, we propose a lane detection filter. After searching lanes, we can seek vanishing point. And then y-axis seek y-sxis rotation component(${\beta}$). By using these parameter, we can find x-axis translation component(Xo). Before we make stepping motor rotate to be y-axis rotation component(${\beta}$), '0', we estimate image coordinates of lane at (t+1). Using this point, we apply this system to Kalman filter. And then we calculate to new parameters whick make minimum error.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1204-1208
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• 2014

As required performance of UAV (Unmanned Aerial Vehicle) becomes more complex and complicated, required positioning accuracy is becoming more and more higher. GPS is a reliable world wide positioning providing system. Therefore, UAV generally acquires position information from GPS. But when GPS is not available such as too weak signal or too less GPS satellites environments, UAV needs alternative positioning system such as network positioning system. RSSI (Received Signal Strength Indicator) based positioning, which is one method of network positioning technologies, determines its position using RSSI measurements containing distance information from AP (Access Point)s. In that method, a selected AP's configuration has strong and tight relationship with its positioning errors. In this paper, for, we additionally account AP's configuration information by adopting DOP (Dilution of Precision) into AP selection procedures and provide more accurate RSSI based positioning results.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.1
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• pp.1-8
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• 2012

Obstacle detection is much studied by using sensors such as laser, vision, radar and ultrasonic in path planning for UGV(Unmanned Ground Vehicle), but not much reported about its characterization. In this paper not only an obstacle classification method using 2-dimensional LMS(Laser Measurement System) but also a decision making method whether to avoid or traverse the obstacle is proposed. The basic idea of decision making is to classify the characteristics by 2D laser scanned data and intensity data. Roughness features are obtained by range data using a simple linear regression model. The standard deviations of roughness and intensity data are used as measures for decision making by comparing with those of reference data. The obstacle classification and decision making for the UGV can facilitate a short path to the target position and the survivability of the robot.

• Proceedings of the Korean Society of Computer Information Conference
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• 2021.07a
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• pp.703-704
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• 2021

도로변에서 발생하는 미세먼지와 비산먼지는 인체에 각종 질병을 유발하는 발암물질로 알려져 있다. 본 논문에서는 효율적인 도로변 미세먼지의 농도를 측정을 위해 소형차량을 이용한 이동형 미세먼지 모니터링 시스템을 제안한다. 이 시스템은 기존의 대형차량의 운행으로 발행하는 미세먼지 사각지대를 해소하고, 고품질의 보급형 센서를 탑재하여 경제성을 제고한다. 또한, 미세먼지 측정 차량은 이동 중에도 실시간으로 측정가능하다. 이번 연구를 통해 미세먼지 측정 차량을 운행한 결과 도로변 상황을 즉각적으로 반영하는 결과를 나타내었다. 이러한 미세먼지 농도는 미세먼지 저감 및 관리를 위한 기초정보로 사용될 것을 기대한다.

• Particle and aerosol research
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• v.17 no.1
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• pp.9-20
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• 2021

As a large city advanced, the urban environment is becoming an issue. The contribution of vehicle emissions in air pollutants was very high according to the clean air policy support system (CAPSS). In order to improve the air quality in large cities, it is necessary to establish improvement measures by sources, analyzing the air quality of roadside. We divided Bucheon city into 4 regions to investigate the roadside pollutants of each district using the mobile laboratory (ML) and air quality monitoring station (AQMS). ML was used to measure pollutants emitted from vehicles and AQMS data was used as a comparison group of ML data. As a measurement result of pollutants in the roadside, the concentration of air pollutants in industrial & engineering complex area was the highest and concentration of air pollutants in residential & forest complex area was lower. By street, Bucheon-ro, Sinheung-ro, Sosa-ro, and Gyeongin-ro were identified as high concentrations. Therefore, further researches on preparing management measures for roads in the hot-spot area are needed.

• The Journal of the Korea Contents Association
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• v.15 no.3
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• pp.192-198
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• 2015

Checked out by the moving vehicle health checks for patients, practitioners, and the increase in radiation dose outside the vehicle, but an investigation into the leakage of radiation can still be negligible. In this study, through experimental results were as follows: Dose that occurs most often where the leak in the right door $1.14{\pm}1.75mR/h$, X-ray generator in terms of proximity to the top $0.65{\pm}1.25mR/h$, X-ray generator and away to the bottom in terms $0.91{\pm}1.25mR/h$, the adjacent rear detector in the upper part $96.98{\pm}158.88mR/h$ dose of the leak appeared in various locations. By measuring position from the rear of the adjacent detector $67.48{\pm}97.03mR/h$ dose had the highest leakage into. Generating device for diagnosis of radiation safety regulations regarding the maximum leakage dose per week, but all met back when it is displayed in the leakage dose Hourly rates do not ignore the leakage radiation dose were measured. Therefore, a mobile health screening in a vehicle outside of the leakage radiation dose to the liver and move on we are not interested twelve barrier leakage radiation dose of defense has a chance to re-evaluate the standards required, and move the vehicle health check using the X-ray increases as the dose per hour, depending on the criteria for choosing the appropriate measures that will require effort.