• Journal of Advanced Navigation Technology
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• v.23 no.3
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• pp.221-227
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• 2019

In this paper, interacting multiple model (IMM) filter was designed that guarantees a stable navigation performance even in the unstable satellite navigation position. In order to design IMM filter in INS / GPS integrated navigation system, sub filter of the IMM filter is defined as Kalman filter. In the IMM filter configuration, two subfilters are determined. Each Kalman filter defines the six-teenth state composed of position, velocity, attitude, and sensor error from the INS error equation and the states additionally derived in case of the coloured measurement noise. In order to verify the performance of the proposed filter, we compared the performance how the filter works in the presence of arbitrary error in GPS navigation solution. The Monte Carlo simulation was performed 100 times and the results were compared with the root mean square(RMS). The results show that the proposed method is stable against errors and show fast convergence.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.27 no.1
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• pp.60-68
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• 2016

This paper presents a 6~18 GHz 7-bit digital-controlled attenuator. The proposed attenuator is based on switched-T architecture, but no inductor is used for minimum chip size. The designed attenuator was fabricated using $0.18{\mu}m$ CMOS process, and characterized using on-wafer testing setup. The resolution(minimum attenuation step) and the maximum attenuation range of the attenuator were measured to be 0.22 dB and 28 dB, respectively. The measured RMS attenuation error and the RMS phase error for 6~18 GHz were less than 0.26 dB and $3.2^{\circ}$, respectively. The reference state insertion loss was less than 12.4 dB at 6~18 GHz. The measured input and output return losses were better than 9.4 dB over all frequencies and attenuation states. The chip size is $0.11mm^2$ excluding pads.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.22 no.6
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• pp.613-624
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• 2011

An MMIC multi-function chip for an X-band active phased array radar system has been designed and fabricated using a 0.5 ${\mu}m$ GaAs p-HEMT commercial process. A digital serial-to-parallel converter is included in this chip in order to reduce the number of the control interface. The multi-function chip provides several functions: 6-bit phase shifting, 6-bit attenuation, transmit/receive switching, and signal amplification. The fabricated multi-function chip with a relative compact size of 24 $mm^2$(6 mm${\times}$4 mm) exhibits a transmit/receive gain of 24/15 dB and a P1dB of 21 dBm from 8.5 GHz to 10.5 GHz. The RMS errors for the 64 states of the 6-bit phase shift and attenuation were measured to $7^{\circ}$ and 0.3 dB, respectively over the frequency.

• Economic and Environmental Geology
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• v.48 no.6
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• pp.451-465
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• 2015

The free-air anomalies are computed using a data set from various types of gravity measurements in the Korean Peninsula area. The gravity values extracted from the Earth Gravitational Model 2008 are used in the surrounding region. The upward continuation technique suggested by Dragomir is used in the computation of the external free-air anomalies at various altitudes. The integration radius 10 times the altitude is used in order to keep the accuracy of results and computational resources. The direct geodesic formula developed by Bowring is employed in integration. At the 1-km altitude, the free-air anomalies vary from -41.315 to 189.327 mgal with the standard deviation of 22.612 mgal. At the 3-km altitude, they vary from -36.478 to 156.209 mgal with the standard deviation of 20.641 mgal. At the 1,000-km altitude, they vary from 3.170 to 5.864 mgal with the standard deviation of 0.670 mgal. The predicted free-air anomalies at 3-km altitude are compared to the published free-air anomalies reduced from the airborne gravity measurements at the same altitude. The rms difference is 3.88 mgal. Considering the reported 2.21-mgal airborne gravity cross-over accuracy, this rms difference is not serious. Possible causes in the difference appear to be external free-air anomaly simulation errors in this work and/or the gravity reduction errors of the other. The external gravity field is predicted by adding the external free-air anomaly to the normal gravity computed using the closed form formula for the gravity above and below the surface of the ellipsoid. The predicted external gravity field in this work is expected to reasonably present the real external gravity field. This work seems to be the first structured research on the external free-air anomaly in the Korean Peninsula area, and the external gravity field can be used to improve the accuracy of the inertial navigation system.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.32 no.6
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• pp.553-560
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• 2020

This paper presents an algorithm for identifying and eliminating errors by seagrasses in coastal bathymetry surveying using drone and HD camera. Survey errors due to seagrasses were identified, segmentated and eliminated using a L∗a∗b color space model. Bathymetry survey using a drone and HD camera has many advantages over conventional survey methods such as ship-board acoustic sounder or manual level survey which are time consuming and expensive. However, errors caused by sea bed reflectance due to seagrasses habitat hamper the development of new surveying tool. Seagrasses are the flowering plants which start to grow in November and flourish to maximum density until April in Korea. We developed a new algorithm for identifying seagrasses habitat locations and eliminating errors due to seagrasses to get the accurate depth survey data. We tested our algorithm at Wolpo beach. Bathymetry survey data which were obtained using a drone with HD camera and calibrated to eliminate errors due to seagrasses, were compared with depth survey data obtained using ship-board multi-beam acoustic sounder. The abnormal bathymetry data which are defined as the excess of 1.5 times of a standard deviation of random errors, are composed of 8.6% of the test site of area of 200 m by 300 m. By applying the developed algorithm, 92% of abnnormal bathymetry data were successfully eliminated and 33% of RMS errors were reduced.

• Journal of the Korean Society of Radiology
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• v.8 no.1
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• pp.19-26
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• 2014

This paper suggests techniques to enhance coding time which is a problem in traditional fractal compression and to improve fidelity of reconstructed images by determining fractal coefficient through adaptive selection of block approximation formula. First, to reduce coding time, we construct a linear list of domain blocks of which characteristics is given by their luminance and variance and then we control block searching time according to the first permissible threshold value. Next, when employing three-level block partition, if a range block of minimum partition level cannot find a domain block which has a satisfying approximation error, we choose new approximation coefficients using a non-linear approximation of luminance term. This boosts the fidelity. Our experiment employing the above methods shows enhancement in the coding time more than two times over traditional coding methods and shows improvement in PSNR value by about 1-3dB at the same compression rate.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2002.02a
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• pp.494-500
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• 2002

본 연구의 목적은 DGPS와 자이로 센서를 장착하여 무인으로 콤바인을 직선주행, 선회 및 곡선주행, 직진주행 중 1 m 오프셋(offset) 주행시켰을 때, 무인 자율주행의 성능을 분석하고 개선하는데 있다. 콤바인의 무인자율주행 시스템은 콤바인의 현재위치를 인식하고, 주행하고 있는 콤바인의 주행방향을 감지하여 미리 설정된 경로를 따라 자율적으로 주행하며, 주행 중에 장애물이 검출되면 정지할 수 있도록 개발하였다. 콤바인의 무인 자율주행시스템은 DGPS의 입력 신호로부터 콤바인의 현재위치를 결정하고, 자이로 센서의 입력신호로부터 주행방향을 알 수 있다. 또한 장애물의 감지를 위한 초음파 센서, 콤바인의 주행방향을 조정하는 유압 작동부, 좌.우의 조향레버를 조정하는 서보모터 시스템, 마이크로 컴퓨터로 구성된 제어기와 입출력 인터페이스로 구성되어 있다. 콤바인 자율주행시스템의 프로그램은 DGPS 신호, 자이로 센서 등을 수신하는 수신 프로그램, DGPS 신호등으로부터 관련 변수들을 분석하여 콤바인의 조향수준을 결정하고, 유압실린더 등을 제어하는 제어 프로그램과 콤바인의 이동경로를 저장하는 저장 프로그램으로 구성되어 있다. 콤바인의 무인주행 실험결과 RMS 오차는 50 m 직선주행에서 7.52 cm, 20 m 직선주행 후 1 m 오프셋 된 30 m의 직선주행에서 21.85 cm, 20 m 직선주행 후 90$^{\circ}$선회하여 25 m 직선주행에서 7.55 cm, 반지름 23 m의 원주 사분면 곡선주행에서는 25.98 cm로 각각 나타났다. 소 구획의 포장에서 벼는 가로 방향으로 25~30 cm, 세로 방향으로 15~20 cm의 간격으로 심어져 있다. DGPS 신호에 의한 위치 결정을 할 때 자체 오차 10 cm를 고려하여도 콤바인이 직선구간 및 선회구간을 주행하며 수확작업이 가능함을 알 수 있었다. 그러나 곡선구간에서는 최대오차가 65.5 cm로 매우 크게 나타나, 콤바인을 무인 자율주행으로 수확하기에는 어려움이 있는 것으로 나타났다. 실제 포장은 이론적인 완전한 직선보다는 작은 굴곡이 있는 곡선의 형태가 이루어져 있으므로 주행 오차를 감소하기 위해서는 기계시각을 이용하면 보다 정밀한 조향을 이룰 수 있을 것으로 예상된다. 포장에서 DGPS 신호, 자이로 센서 등을 이용한 콤바인의 무인주행 장치는 무인 수확작업을 위한 가능성을 보여주었고, 일부의 센서의 기능을 개선하면 만족한 성능을 나타낼 수 있을 것으로 판단된다.

• Korean Journal of Remote Sensing
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• v.28 no.5
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• pp.477-487
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• 2012

Sea surface winds in the sea off the east coast of Korea were derived from L-band ALOS (Advanced Land Observing Satellite) PALSAR (Phased Array type L-band Synthetic Aperture Radar) data and their characteristics of errors were analyzed. We could retrieve high-resolution wind vectors off the east coast of Korea including the coastal region, which has been substantially unavailable from satellite scatterometers. Retrieved SAR-wind speeds showed a good agreement with in-situ buoy measurement by showing relatively small an root-mean-square (RMS) error of 0.67 m/s. Comparisons of the wind vectors from SAR and scatterometer presented RMS errors of 2.16 m/s and $19.24^{\circ}$, 3.62 m/s and $28.02^{\circ}$ for L-band GMF (Geophysical Model Function) algorithm 2009 and 2007, respectively, which tended to be somewhat higher than the expected limit of satellite scatterometer winds errors. L-band SAR-derived wind field exhibited the characteristic dependence on wind direction and incidence angle. The previous version (L-band GMF 2007) revealed large errors at small incidence angles of less than $21^{\circ}$. By contrast, the L-band GMF 2009, which improved the effect of incidence angle on the model function by considering a quadratic function instead of a linear relationship, greatly enhanced the quality of wind speed from 6.80 m/s to 1.14 m/s at small incident angles. This study addressed that the causes of wind retrieval errors should be intensively studied for diverse applications of L-band SAR-derived winds, especially in terms of the effects of wind direction and incidence angle, and other potential error sources.

• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
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• 2003.04a
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• pp.531-536
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• 2003

In this paper, a camera modeling method that utilizes ephemeris data and imaging geometry is presented. The proposed method constructs a mathematical model only with parameters that are contained in the leader file and does not require any ground control points for model construction. Control points are only needed to eliminate geolocation error of the model that is originated from errors in the parameters that are used in model construction. With few (one or two) of control points, RMS error of less than pixel size can be obtained and control points are not necessarily uniformly distributed over the entire scene. This advantage is crucial in large project and will enable to reduce project cost dramatically.

• Journal of the Korean Society of Propulsion Engineers
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• v.12 no.3
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• pp.60-67
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• 2008

In this study, the genetic algorithm has been used for the real-time defect diagnosis on the operation of the aircraft gas-turbine engine. The component elements of the gas-turbine engine for consideration of the performance deterioration consist of the compressor, the gas generation turbine and the power turbine. Compared to the on-design point, the teaming data has been increased 200 times in case off-design conditions for the altitude, the flight mach number and the fuel consumption. Therefore, enormous learning time has been required for the satisfied convergence. The optimal division has been proposed for learning time decrease as well as the high accuracy. As results, the RMS errors of the defect diagnosis using the genetic algorithm have been confirmed under 5 %.