• Journal of Mechanical Science and Technology
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• v.19 no.8
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• pp.1529-1543
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• 2005

Recently an unmanned aerial vehicle (UAV) has been widely used for military and civil applications. The role of a navigation system in the UAV is to provide navigation data to the flight control computer (FCC) for guidance and control. Since performance of the FCC is highly reliant on the navigation data, a fault in the navigation system may lead to a disastrous failure of the whole UAV. Therefore, the navigation system should possess a fault detection and isolation (FDI) algorithm. This paper proposes an attitude determination GPS/INS integrated navigation system with an FDI algorithm for a UAV. Hardware for the proposed navigation system has been developed. The developed hardware comprises a commercial inertial measurement unit (IMU) and the integrated navigation package (INP) which includes an attitude determination GPS (ADGPS) receiver and a navigation computer unit (NCU). The navigation algorithm was implemented in a real-time operating system with a multi-tasking structure. To evaluate performance of the proposed navigation system, a flight test has been performed using a small aircraft. The test results show that the proposed navigation system can give accurate navigation results even in a high dynamic environment.

• Journal of Positioning, Navigation, and Timing
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• v.11 no.3
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• pp.191-198
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• 2022

In order to increase the practical use and navigational application performance of the Korean Positioning System (KPS), it is required to provide interoperability with other Global Navigation Satellite System (GNSS). This kind of interoperability can be obtained by broadcasting the time offset between KPS and GNSS using a KPS navigation message. With the assumption that KPS Time (KPST) will be generated by the similar method and equipment of UTC(KRIS), the overall behavior of KPST will be close to that of UTC(KRIS). Therefore, the time offset between KPST and GPS Time (GPST) is estimated by using UTC(KRIS) instead of KPST because KPST can not available at the present time. In this paper, we describe the estimation results of the KPS to GPS Time Offset (KGTO) obtained by using a GNSS time transfer receiver which reference inputs are fed from UTC(KRIS). The estimated KGTO performance is compared to the time offset between UTC(KRIS) and UTC(USNO) which is used to generate GPST and considered as the real GPST. The time offset between UTC(KRIS) and UTC(USNO) is obtained by using the Bureau International des Poids et Mesures (BIPM) Circular T report. From the results, it is observed that KGTO can be estimated under 10 ns with the assumption that KPST will be generated by a similar method of UTC(KRIS) generation.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.13 no.2
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• pp.239-244
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• 2013

A ubiquitous-based construction site management system coupled with construction processing status of a 3-D spatial information and sensor network for construction site management is implemented. The service of such management system is able to save efforts and times to check the processing status of construction sites and more the related construction staff in charge can receive the real time information of construction field or the related information can be transmitted to the office where the construction staffs in charge are. Especially we can provide on a mobile smart phone of real time processing status at construction field and environmental information of such temperature, humidity, information of GPS, etc. which are able to affect the construction status. In addition, construction processing and design modification etc. as well as necessary informations are able to be helped and provided at any time and to any place.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.8 no.5
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• pp.1004-1009
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• 2004

Precise time synchronization is a main technology in high-speed communications, parallel and distributed processing systems, Internet information industry and electronic commerce. Synchronized clocks are useful for many leasers. Often a distributed system is designed to realize some synchronized behavior, especially in real-time processing in factories, aircraft, space vehicles, and military applications. Nowadays, time synchronization has been compulsory thing as distributed processing and network operations are generalized. A network time server obtains, keeps accurate and precise time by synchronizing its local clock to standard reference time source and distributes time information through standard time synchronization protocol. This paper describes design issues and implementation of a network time server for time synchronization especially based on a clock model. The system uses GPS (Global Positioning System) as a standard reference time source and offers UTC (universal Time coordinated) through NTP (Network Time protocol). Implementation result and performance analysis are also presented.

• Korean Journal of Construction Engineering and Management
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• v.13 no.3
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• pp.56-66
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• 2012

The Recent Specialty Contractor in construction of the reduced quantity due to the recession, but competitive in order to increase the number of companies that are increasingly competitive. The field work of one person to perform the work of employees and multiple sites, workforce supply flow that occurs at each stage of information transfer is not made a late staffing. Therefore this research has proposed a new alternative that can overcome them and the entire industry in recent issue smart phone features that take advantage of GPS(Global Positioning System). This paper presents a Diligence and Indolence Management System using GPS of smart phone. offering the advantage of Web-based PMIS(Project Management Information System) through integration with real-time information transfer and smart phone applications for query by building a prototype of a professional construction company as their own on-site management measures are proposed to contribute time and attendance.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.277-282
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• 2006

It is well known that Kalman filtering is an optimal real-time data fusion method for GPS/INS integration. However, it has some limitations in terms of stability, adaptability and observability. A Kalman filter can perform optimally only when its dynamic model is correctly defined and the noise statistics for the measurement and process are completely known. It is found that estimated Kalman filter states could be influenced by several factors, including vehicle dynamic variations, filter tuning results, and environment changes, etc., which are difficult to model. Neural networks can map input-output relationships without apriori knowledge about them; hence a proper designed neural network is capable of learning and extracting these complex relationships with enough training. This paper presents a GPS/INS integrated system that combines Kalman filtering and neural network algorithms to improve navigation solutions during GPS outages. An Extended Kalman filter estimates INS measurement errors, plus position, velocity and attitude errors etc. Kalman filter states, and gives precise navigation solutions while GPS signals are available. At the same time, a multi-layer neural network is trained to map the vehicle dynamics with corresponding Kalman filter states, at the same rate of measurement update. After the output of the neural network meets a similarity threshold, it can be used to correct INS measurements when no GPS measurements are available. Selecting suitable inputs and outputs of the neural network is critical for this hybrid method. Detailed analysis unveils that some Kalman filter states are highly correlated with vehicle dynamic variations. The filter states that heavily impact system navigation solutions are selected as the neural network outputs. The principle of this hybrid method and the neural network design are presented. Field test data are processed to evaluate the performance of the proposed method.

• Agricultural and Biosystems Engineering
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• v.4 no.2
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• pp.45-49
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• 2003

Achievements in the real-time soil spectro-photometer are: an improved soil penetrator to ensure a uniform soil surface under high speed conditions, real-time collecting of underground soil reflectance, getting underground soil color images, use of a RTK-GPS, and all units are arranged for compactness. With the soil spectrophotometer, field experiments were conducted in a 0.5 ha paddy field. With the original reflectance, averaging and multiple scatter correction, Kubelka-Munk (KM) transformation as soil absorption, its 1st and 2nd derivatives were calculated. When the spectra was highly correlated with the soil parameters, stepwise regression analysis was conducted. Results include the best prediction models for moisture, soil organic matter (SOM), nitrate nitrogen ($NO_3-N$), pH and electric conductivity (EC), and soil maps obtained by block kriging analysis.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.705-708
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• 2005

Mobile Mapping Systems using the vehicle equipped the GPS, IMU, CCD Cameras is the effective system for the management of the road facilities, update of the digital map, and etc. They must provide users with the sensor data which is acquired by Mobile Mapping Systems in real-time so that users can process what they want by using the latest data. But it' s not an easy process because the amount of sensor data is very large, particularly image data to be transmitted. So it is necessary to reduce the amount of image data so that it is transmitted effectively. In this study, the effective method was suggested for the compression/decompression image data using the Wavelet Transformation and Huffman Coding. This technique will be possible to transmit of the geographic information effectively such as position data, attitude data, and image data acquired by Mobile Mapping Systems in the wireless internet environment when data is transmitted in real-time.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.247-250
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• 2006

Integrating a GPS based vehicle navigation system and the latest optimal algorithms, this research aims to develop a real-time decision support platform for concrete plant to provide the optimal solutions for ready mixed concrete delivery. The platform includes fleet tracking system, simulation and optimization tools, and visual interface which is useful to monitor delivery progress, to obtain crucial historical and real-time data for simulation, and to improve the efficiency of the plant operation. This paper presents configuration of the system and performance evaluation based on operational data.

• International Journal of Control, Automation, and Systems
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• v.1 no.4
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• pp.444-452
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• 2003

An integration system with multi-measurement sets can be realized via combined application of a centralized and federated Kalman filter. It is difficult for the centralized Kalman filter to remove a failed sensor in comparison with the federated Kalman filter. All varieties of Kalman filters monitor innovation sequence (residual) for detection and isolation of a failed sensor. The innovation sequence, which is selected as an indicator of real time estimation error plays an important role in adaptive mechanism design. In this study, the centralized Kalman filter with adaptive measurement fusion is introduced by means of innovation sequence. The objectives of adaptive measurement fusion are automatic isolation and recovery of some sensor failures as well as inherent monitoring capability. The proposed adaptive filter is applied to the GPS/SDINS integration system with an additional sensor. Simulation studies attest that the proposed adaptive scheme is effective for isolation and recovery of immediate sensor failures.