• 한국항행학회논문지
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• 제25권6호
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• pp.485-492
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• 2021

무인항공기의 영상 기반 자동 정밀 착륙 기술은 착륙 지점에 대한 정밀한 위치 추정 기술과 착륙 유도 기술이 요구된다. 또한, 안전한 착륙을 위하여 지상 장애물에 대한 착륙 지점의 안전성을 판단하고, 안전성이 확보된 경우에만 착륙을 유도하도록 설계되어야 한다. 본 논문은 자동 정밀 착륙을 수행하기 위하여 영상 기반의 항법과 착륙 지점의 안전성을 판단하기 위한 알고리즘을 제안한다. 영상 기반 항법을 수행하기 위해 CNN 기법을 활용하여 착륙 패드를 탐지하고, 탐지 정보를 활용하여 통합 항법 해를 도출한다. 또한, 위치 추정 성능을 향상시키기 위한 칼만필터를 설계 및 적용한다. 착륙 지점의 안전성을 판단하기 위하여 동일한 방식으로 장애물 탐지 및 위치 추정을 수행하고, LSM을 활용하여 장애물의 속도를 추정한다. 추정한 장애물의 상태를 활용하여 계산한 CPA를 기반으로 장애물과의 충돌 여부를 판단한다. 최종적으로 본 논문에서 제안된 알고리즘을 비행 실험을 통해 검증한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 추계학술대회 논문집
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• pp.159-160
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• 2008

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 춘계학술대회 논문집
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• pp.885-886
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• 2008

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.1387-1388
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• 2011

• 한국군사과학기술학회지
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• 제16권6호
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• pp.762-770
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• 2013

Korean military is currently using and operating a precision approach and landing system, called RAPCON (ASR/PAR), which is imported from overseas. However, drawbacks of this system are operational and cost problems that come along, e.g. straightness of the radio waves, limited ability of narrow searching, lack of interoperability, and high cost of installation and maintenance. Moreover, as the civilian air traffic control uses a similar system compared to the military, the so called DME/VOR/ILS, disturbance between these two systems triggered the consideration of GNSS as alternative system. In this paper, we conduct a research on trends in the field of precise approach and landing systems based on GNSS, analyze weaknesses of GNSS(jamming, fault) and consider possible solutions. Furthermore, we propose the precise approach and landing system based on GNSS to be used by the Korean military as we found it to be also suitable for military purposes. Finally, we examine the benefits of a domestic development with different focuses(development/cost of mass production/operational advantages and potential for increased performance).

• 항공우주시스템공학회지
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• 제16권4호
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• pp.77-87
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• 2022

PADS(Precision Aerial Delivery System)은 원형 낙하산을 이용한 공중 물자수송 시스템의 낮은 착륙 정확도를 개선해줄 수 있는 장비로 AGU(Airborne Guidance Unit)을 장착하여 원하는 목적지로 안전하게 물자를 수송할 수 있다. 현재 외국에서 개발된 PADS 성능은 착륙 정확도가 CEP₅₀ 100m 범위로 보고되고 있으나 실제 지형 및 기상환경에 따라 많은 차이를 보인다. 산악지역이 많은 국내 환경에서는 국부적인 지형변화에 따른 풍향, 풍속 변화가 심하고 이는 착륙 정밀도에 영향을 미친다. 본 연구에서는 이러한 문제점을 해결하기 위해 PADS의 6DOF 비선형 모델링을 기반으로 HILS(Hardware In the Loop Simulation)를 구축하여 바람 환경에서 Ram air parachute의 기동 특성을 분석하였다. 이러한 기동 특성을 고려하여 EM(Energy Management) 기동과 FA(Final Approach) 기동을 포함한 정밀 연착륙 알고리즘을 설계하였다. PADS 시뮬레이션 결과 CEP₅₀ 40m 이내로 정밀 연착륙이 가능하였으며, 향후 이러한 연구 결과를 바탕으로 실제 PADS 투하시험을 통하여 정밀 공중 물자수송 시스템에 적용될 수 있을 것이다.

• 한국정밀공학회지
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• 제16권8호
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• pp.138-148
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• 1999

Thermal deformations of tension mask under localized heating are analyzed using finite element method and electron beam landing shifts are predicted by the analysis results. In CRT, electron beam landing shifts due to thermal deformations of the tension mask make the color purity of screen worse. In order to get the final results of thermal deformations, firstly the tension processes of the mask and following welding processes between the tensional mask and rail must be analyzed sequentially. And then, nonlinear transient thermo-elastic finite element analysis is performed on every part inside CRT including tension mask, wherein thermal radiation is a main heat transfer mechanism. Because the tension mask has numerous slits, the effective thermal conductivity and effective and effective elastic modulus is calculated, and the tension mask is modeled as a shell without slits. From the displacement results of tension mask, electron beam landing shifts is calculated directly. Experiments are performed to confirm our analysis results. Temperature distributions and beam landing shifts of tension mask are measured and the results are in good agreement with those of analyses.

• 한국항공운항학회지
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• 제30권1호
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• pp.44-49
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• 2022

This study performed precision instrument landing procedures for pilots with a commercial pilot license using VR HMD flight simulators, and assuming that the center of the pilot's gaze is in the front, 3-D.O.F. head tracking data and 2-D eye tracking of VR HMD worn by pilots gaze tracking was performed through. After that, AOI (Area of Interesting) was set for the instrument panel and external field of view of the cockpit to analyze how the pilot's gaze was distributed before and after the decision altitude. At the same time, the landing results were analyzed using the Localizer and G/S data as the pilot's precision instrument landing flight data. As a result, the pilot was quantitatively evaluated by reflecting the gaze tracking and the resulting landing result using a VR HMD simulator.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1688-1692
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• 2003

The automatic Landing system is used for the automatic functions of automatic transfer crane in the automated container terminal. It confirms and adjusts the alignment and pose between spreader and container and accomplishes the automatic loading/unloading job of containers in yard. Specially, it is required in the automated container terminal and is well adapted under the coarse external environments. This system used the laser sensors to recognize the alignment between spreader and container. In this paper the algorithm of recognition of the alignment and pose is presented and the result of its simulation is shown.

• Journal of Positioning, Navigation, and Timing
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• 제2권2호
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• pp.115-121
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• 2013

For the auto-landing operation of an air vehicle, the possibility of auto-landing operation should be first evaluated by testing the navigation performance through a flight test. In general, navigation performance is tested by analyzing north/east/down (NED) errors relative to reference equipment whose precision is about 8~10 times higher than that of a navigation system. However, to evaluate the auto-landing operation of an air vehicle, whether the air vehicle approaches a glide path aligned with the runway, within a specific error, needs to be examined rather than examining the north/east errors of the navigation system. Therefore, the longitudinal/lateral errors of air vehicle heading need to be analyzed. In this study, a method for analyzing the longitudinal/lateral errors of a navigation system was proposed as the navigation performance test method for evaluating the safety during the auto-landing of an air vehicle. Also, flight tests were performed six times, and the safety of auto-landing was examined by analyzing the performance using the proposed method.