• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.5
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• pp.291-299
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• 2005

An obstacle avoidance algorithm for a network-based autonomous mobile robot is proposed in this paper. The obstacle avoidance algorithm is based on the VFH(Vector Field Histogram) algorithm and two delay compensation methods with the VFH algorithm are proposed for a network-based robot with distributed environmental sensors, mobile actuators, and the VFH controller. Firstly, the environmental sensor information is compensated by prospection with acquired environmental sensor information, measured network delays, and the kinematic model of the robot. The compensated environmental sensor information is used for building polar histogram with the VFH algorithm. Secondly, a sensor fusion algorithm for localization of the robot is proposed to compensate the delay of odometry sensor information and the delay of environmental sensor information. Through some simulation tests, the performance enhancement of the proposed algorithm in the viewpoint of efficient path generation and accurate goal positioning is shown here.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1898-1899
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• 2011

In this paper, we propose an obstacle avoidance algorithm for a network-based autonomous mobile robot. The obstacle avoidance algorithm is based on the VFH (Vector Field Histogram) algorithm and delay-compensative methods with the VFH algorithm are proposed for the network-based robot that is a unified system composed of distributed environmental sensors, mobile actuators, and the VFH controller. Firstly, the compensated readings of the sensors are used for building the polar histogram of the VFH algorithm. Secondly, a sensory fusion using the Kalman filter is proposed for the localization of the robot to compensate both the delay of the readings of an odometry sensor and the delay of the readings of the environmental sensors. The performance enhancements of the proposed obstacle avoidance algorithm from the viewpoint of efficient path generation and accurate goal positioning are also shown in this paper through some simulation experiments by the Marilou Robotics Studio Simulator.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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• pp.610-618
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• 2011

For improved localization around the indoor/outdoor transit area of buildings, this paper proposes an efficient algorithm combining the measurements from the WLAN (Wireless Local Area Network) and the GPS (Global Positioning System) for. The proposed hybrid localization algorithm considers both multipath errors and NLOS (Non-Line-of-Sight) errors, which occur in most wireless localization systems. To detect and isolate multipath errors occurring in GPS measurements, the propose algorithm utilizes conventional multipath test statistics. To convert WLAN signal strength measurements to range estimates in the presence of NLOS errors, a simple and effective calibration algorithm is designed to compute conversion parameters. By selecting and combining the reliable GPS and WLAN measurements, the proposed hybrid localization algorithm provides more accurate location estimates. An experiment result demonstrates the performance of the proposed algorithm.

• Spatial Information Research
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• v.20 no.4
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• pp.83-92
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• 2012

Location-based services (LBS) are increasingly popular due to the improvement of geo-positioning capabilities and wireless communication technology. However, in order to enjoy LBS services, a user requesting a query must send his/her exact location to the LBS provider. Therefore, it is a key challenge to preserve user's privacy while providing LBS. To solve this problem, the existing method employs a 2PASS cloaking framework that not only hides the actual user location but also reduces bandwidth consumption. However, 2PASS does not fully guarantee the actual user privacy because it does not take the real user distribution into account. Hence, in this paper, we propose a nearest neighbor query processing algorithm that supports K-anonymity property based on the weighted adjacency graph(WAG). Our algorithm not only preserves the location of a user by guaranteeing k-anonymity in a query region, but also improves a bandwidth usage by reducing unnecessary search for a query result. We demonstrate from experimental results that our algorithm outperforms the existing one in terms of query processing time and bandwidth usage.

• Journal of Positioning, Navigation, and Timing
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• v.4 no.4
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• pp.173-180
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• 2015

In this study, an algorithm that detects a spoofing signal for a GPS L1 signal was proposed, and the performance was verified through RF spoofing signal simulation. The proposed algorithm determines the reception of a spoofing signal by detecting a correlation distortion of GPS L1 C/A code caused by the spoofing signal. To detect the correlation distortion, a detection criterion of a spoofing signal was derived from the relationship among the Early, Prompt, and Late tap correlation values of a receiver correlator; and a detection threshold was calculated from the false alarm probability of spoofing signal detection. In this study, an RF spoofing environment was built using the GSS 8000 simulator (Spirent). For the RF spoofing signal generated from the simulator, the RF spoofing environment was verified using the commercial receiver DL-V3 (Novatel Inc.). To verify the performance of the proposed algorithm, the RF signal was stored as IF band data using a USRP signal collector (NI) so that the data could be processed by a CNU software receiver (software defined radio). For the performance of the proposed algorithm, results were obtained using the correlation value of the software receiver, and the performance was verified through the detection of a spoofing signal and the detection time of a spoofing signal.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.10
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• pp.1994-2000
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• 2016

Technology that can determine the location of individuals is required in a variety of applications such as location based control, a personalized advertising. Missing-child prevention and support for field trips, and applications such as push events based on the user's location is endless. In particular, the technology that can determine the location without interruption in the indoor and outdoor spaces have been studied a lot recently. Because emphasizing on accuracy of the positioning, many conventional research have constraints such as using of additional sensing devices or special mounting devices. The algorithm proposed in this paper has the purpose of performing the positioning only with standard equipment of the smart phone that has the most users. In this paper, sensor Fusion with GPS, WiFi Radio Map, Accelerometer sensor and Particle Filter algorithm is designed and implemented. Experimental results of this algorithm shows superior performance than the other compared algorithm. This could confirm the possibility of using proposed algorithm on actual environment.

• Journal of Positioning, Navigation, and Timing
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• v.12 no.4
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• pp.359-367
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• 2023

In order to ensure the high-integrity of reference stations of satellite navigation system, cycle slip should be precisely monitored and compensated. In this paper, we proposed a cycle slip algorithm for the integrity monitoring of the reference stations. Unlike the legacy method using the Melbourne-Wübbena (MW) combination and ionosphere combination, the proposed algorithm is based on ionosphere combination only, which uses high precision carrier phase observations without pseudorange observations. Two independent and complementary ionosphere combinations, Ionospheric Negative (IN) and Ionospheric Positive (IP), were adopted to avoid insensitive cycle slip pairs. In addition, a second-order time difference was applied to the IN and IP combinations to minimize the influence of ionospheric and tropospheric delay even under severe atmosphere conditions. Then, the cycle slip was detected by the thresholds determined based on error propagation rules, and the cycle slip was identified through weighted least square method. The performance of the proposed cycle slip algorithm was validated with the 1 Hz dual-frequency carrier phase data collected under the difference levels of ionospheric activities. For this experiment, 15 insensitive cycle slip pairs were intentionally inserted into the raw carrier phase observations, which is difficult to be detected with the traditional cycle slip approach. The results indicate that the proposed approach can successfully detect and compensate all of the inserted cycle slip pairs regardless of ionospheric activity. As a consequence, the proposed cycle slip algorithm is confirmed to be suitable for the reference station where real time high-integrity monitoring is crucial.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.672-675
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• 1994

This paper presents a new algorithm to determine the receiver position in satellite navigation for GPS(Global Positioning System). The algorithm which based on vector analysis is able to obtain simultaneously the receiver position and the direction vector which is from the receiver position to a satellite. In its first calculation stage it, does riot require the complex initial value which is used in the previous works and affects the accuracy of the observed receiver position. Furthermore, the algorithm tells us whether a selected configuration among the visible satellites is good or poor for the accuracy. Comparing the algorithm with the previous method, the effectiveness of the algorithm is verified through the experimental simulations.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.3
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• pp.612-619
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• 2011

Satellite navigation system such as GPS is becoming more important infrastructure for positioning, navigation and timing. But satellite navigation system is vulnerable to interferences because of the low received power, complementary navigation system such as eLoran is needed. In order to develop eLoran/GPS navigation system, integrated eLoran/GPS navigation algorithm is necessary. In this paper, new integrated eLoran/GPS navigation algorithm is proposed. It combines the position domain integration and the range domain integration to get accurate position with less computational burden. Also an eLoran/GPS evaluation platform is designed and performance evaluation of the proposed algorithm using the evaluation platform is given. The proposed algorithm gives an accuracy of the range domain integration with a computational load of the position domain integration.

• IE interfaces
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• v.20 no.2
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• pp.121-132
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• 2007

The facility layout problem (FLP) involves the positioning of facilities within a given workplace in order to minimize the material flow distance between facilities. In this paper, we focus on the FLP in which the each facility has a rectangular shape and an input and output points. We develop a heuristic algorithm in which the facilities are arranged according to the layout algorithm using center of gravity and then simulated annealing algorithm is applied to improve the solution. A comparison of the computational results with exiting algorithms shows that the proposed algorithm provides better solutions in reasonable range of computational time.