• Journal of KIISE
• /
• v.43 no.12
• /
• pp.1315-1324
• /
• 2016

Recently, the increasing interest in drones has resulted in development of new related technologies. Attention has been focused toward research on swarm flight which controls drones simultaneously without collision. Thus, complicated missions can be completed rapidly through collaboration between drones. Due to low position accuracy, GPS is not appropriate for the outdoor mission involving accurate flight. In addition, the inaccurate position estimation of GPS gives rise to the serious problem of collision, since many drones are controlled in a narrow space. In this study, we increased the accuracy of position estimation through various sensors with Real-Time Kinematic-GPS (RTK-GPS). The mode switching algorithm was proposed to minimize the problem of sensor error. In addition, we introduced the outdoor swarm flight system based on the proposed position estimation.

• Journal of Korean Society for Geospatial Information Science
• /
• v.13 no.1 s.31
• /
• pp.63-69
• /
• 2005

Interferometric Synthetic Aperture Radar(InSAR) is a rapidly evolving technique. Spectacular results obtained in various fields such as the monitoring of earthquakes, volcanoes, land subsidence and glacier dynamics, as well as in the construction of Digital Elevation Models(DEMs) of the Earth's surface and the classification of different land types have demonstrated its strength. As InSAR is a remote sensing technique, it has various sources of errors due to the satellite positions and attitude, atmosphere, and others. Therefore, it is important to validate its accuracy, especially for the DEM derived from Satellite SAR images. In this study, Real Time Kinematic(RTK) GPS and Kinematic GPS positioning were chosen as tools for the validation of InSAR derived DEM. The results showed that Kinematic GPS positioning had greater coverage of test area in terms of the number of measurements than RTK GPS. But tracking the satellites near and/or under trees md transmitting data between reference and rover receivers are still pending tasks in GPS techniques.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.21 no.4
• /
• pp.393-401
• /
• 2003

Automatic control technologies for the marine pile driving provides accurate and rapid intruding into the planned positions of the pile with planned slope and direction, so that the construction maintenance and management are more efficient and the quality of the construction is more promising. Therefore, in this study, the application scheme of RTK GPS to the automatic control of the pile driving presented. It is expected that the presented scheme using the precise RTK GPS technique assures the efficient and economic 3D positioning accuracy for the precise marine construction management like the precise foundation of marine structures made of piles and the dredging work. It is found that the suggested scheme decrease 60% of the construction error compared with specifications reference because marine position accuracy is measured within 4cm in real time. In addition, the automatic position control system using GPS reduced the construction period and cost compared with existing methods about 30% and 35%, respectively.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.17 no.3
• /
• pp.301-309
• /
• 1999

Real-time kinematic (RTK) GPS surveying which allows centimeter level accuracy of three-dimensional coordinates without post-processing has become recognized as a major advance in GPS technology. Employing On-The-Fly initialization technique, the RTK system can escape from cycle slip problems that have affected as a main obstacle factor in traditional kinematic and static approaches. The objective of this research was to evaluate accuracy and effectiveness of the RTK-GPS surveying. First, the continuous RTK observation of a base line was conducted for the purpose of finding out the repeatability of the RTK surveying and the results which were then compared against results from static surveying showed RMS errors of $\pm{3mm}\;and\;\pm{13mm}$ for their respective horizontal and vertical components. On a test network of 30 stations covering the small area, the results of RTK testing were compared against those from not only post-processing kinematic and rapid-static surveyings but conventional surveyings and also the efficiency of RTK were analyzed. In addition, geoid heights which were derived by combination of GPS and spirit leveling about all of the points within the network were compared against those derived by the PNU95 and EGM96 models respectively.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1216-1221
• /
• 2005

The GPS software receiver based on the SDR(Software Defined Radio) technology provides the ability to easily adopt other signal processing algorithms without changing or modifying the hardware of the GPS receiver. However, it is difficult to implement the GPS software receiver using a commercial processor because of heavy computation load for processing the GPS signals in real time. This paper proposes an efficient GPS signal processing scheme and correlator structure to reduce the computation load for processing the GPS signal in the GPS software receiver, which uses a patterned look-up table method to generate the correlation value between the GPS signals and the replica signals. In this paper, it is explained that the computation load of the proposed scheme is much smaller than that of the previous GPS signal processing scheme. Finally, the processing time of the proposed scheme is compared with that of the previous scheme, and the improvement is shown from the viewpoint of the computation load.

• The Journal of the Korea Contents Association
• /
• v.16 no.1
• /
• pp.362-369
• /
• 2016

Recently, Last to check the security status of various medium and large bridge structures using various kinds of measurement equipment, but most of the methods are used to measure and check the displacement behavior of the bridge by a certain period. In this study, receive GPS satellite signals that can be observed in real time the whole region, a bridge to automatically measure the displacement and behavior characteristics of the structure in real-time in mm over the 24 hours, the measurement information and transmits the data to the wireless network, by making use, it was applied to the real-time monitoring system in connection with a bridge to be able to automatically notify GNSS fine displacement behavior. In fact, analysis and receives the measurement data to GNSS provided in the upper bridge of the middle and large-sized aging for this purpose, measuring USN and at the same time is converted into a three-dimensional position information of a test study was conducted to monitor the bridge displacement in real time. As a result, a vertical displacement of about 0.027~0.037m at the measurement time of day of the measurement point is that the repeated and confirmed.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.5
• /
• pp.502-510
• /
• 2008

UAVs(Unmanned Aerial Vehicles) have many applications in military and commercial areas. The flight control system of UAVs is more important than manned aircraft's because the mission of UAVs must be operated without a human pilot. But very heavy and expensive navigation system makes it difficult to develop UAV flight control system. In this research, GPS/IMU integrated navigation filter was developed for light weight/low cost flight control system of small UAVs. With this navigation filter, full flight control system which has real time operating capability has been developed. The performance of the flight control system is basically checked by HILSIM (Hardware In the Loop SIMulation). Finally, the flight control system is verified by showing performance test result under real flight environment.

• Journal of Advanced Navigation Technology
• /
• v.1 no.1
• /
• pp.11-22
• /
• 1997

Determination of position, velocity and time from the satellite signals is the central problem of the GPS receiver. Generally, GPS receiver uses least square method for navigation filter algorithm. The Kalman filter has known as an optimal linear estimator, which uses the knowledge of the system dynamics and the statistical characteristics of the system noises and measurement error. In this paper, we design an 8 state Kalman filter for GPS navigation and employ some techniques that can reduce computational burden, increase numerical stability, and improve filtering performance. To show its effectiveness, the designed filter is implemented in a GPS receiver and tested in real-time.

• Journal of Korean Society for Geospatial Information Science
• /
• v.17 no.1
• /
• pp.37-42
• /
• 2009

The accuracy of RTK GPS is limited by the distance dependent errors from orbit, ionosphere and troposphere, as the distance between the rover and the base station increases in the Real Time Kinematic surveying. To solve this problem, VRS system has installed. This study would estimated the accuracy of cadastral detail surveying, which is used on the VRS RTK instead of Total Station and RTK GPS demand for various equipments and time. As a result of study, the positioning accuracy of the VRS RTK and RTK GPS surveying make no greate difference, as RMSE of VRS RTK surveying is 0.144m and that of RTK GPS surveying is 0.146m and the new method would be more efficient.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.2 no.2
• /
• pp.186-196
• /
• 1999

The CPS provides data with long-term stability independent of passed time and the INS provides high-rate data with short-term stability. By integrating these complementary systems, a highly accurate navigation system can be achieved. In this paper, a loosely-coupled GPS/INS integration system is designed. It is a simple structure and is easy to implement and preserves independent navigation capability of GPS and INS. The integration system consists of a NCU, an IMU, a GPS receiver, and a monitoring system. The navigation algorithm in the NCU is designed under the multi-tasking environment based on a real-time kernel system and the monitoring system is designed using the Visual C++. The integrated Kalman filter is designed as a feedback formed 15-state filter, in which the states are position errors, velocity errors, attitude errors and sensor bias errors. The van test result shows that the integrated system provides more accurate navigation solution then the inertial or the GPS-alone navigation system.