• Journal of Mechanical Science and Technology
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• 제19권8호
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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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• 제11권3호
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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.

• 한국인터넷방송통신학회논문지
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• 제13권2호
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• pp.239-244
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• 2013

건설현장에서 공사 진행 사항을 실시간으로 취득하여 3차원 공간정보와 센서네트웍을 결합한 유비쿼터스 기반 건설현장 관리시스템을 구현함으로써 건설현장에 가서 공사 진척 현황을 확인해야 하는 수고와 시간을 아낄 수 있고 실시간 정보를 PC, 노트북 또는 스마트 폰 등으로 전송하여 공사 관련 담당자나 담당자가 있는 사무실 등에서 수신할 수 있도록 하였다. 특히, 건설현장의 공사 진행 현황은 물론 공사에 영향을 미칠 수 있는 온도, 습도 등의 환경정보 및 GPS 정보를 모바일 스마트 폰으로 제공함으로써 언제 어느 곳에서든지 필요한 정보를 제공받을 수 있을 뿐만 아니라 공사의 진행과 설계변경 등에 도움을 줄 수 있도록 하여 건설현장 실시간 자동관리가 가능할 수 있도록 연구되었다.

• 한국정보통신학회논문지
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• 제8권5호
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• pp.1004-1009
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• 2004

컴퓨터 시스템에서의 시각 메커니즘은 기본적이고 필수적인 요소로써 현재 시각의 유지 및 프로세스 점유 시간, 디스크 I/O 등, 시스템의 각종 성능 평가를 위한 척도이다. 분산 시스템에서 응용프로세스들은 시스템 내 여러 노드에서 동시에 수행되며 정확한 결과를 얻기 위해서는 노드 간 시각 동기가 이루어져야 한다. 현재 통신망이 보편적 요소가 되면서 분산 환경 구성 및 네트워크 기반 운용이 일반화됨에 따라 시각 동기는 필수 사항이 되었다. 네트워크 시각 서버는 시스템의 지역 클럭을 표준 참조 시각원에 동기시킴으로써 정확하고 정밀한 시각을 획득, 유지하고 표준 시각 동기 프로토콜을 통해 시각 정보를 네트워크에 분배한다. 본 논문은 네트워크 시각 동기를 위한 시각 서버의 설계 및 구현에 대해 제시한다. 시스템은 표준 참조 시각원으로 GPS (Global Positioning System)를 사용하며 NTP (Network Time Protocol)를 통해 표준시 (UTC: Universal Time Coordinated)를 제공한다.

• 한국건설관리학회논문집
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• 제13권3호
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• pp.56-66
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• 2012

최근 전문건설업체는 건설경기 침체로 인해 공사물량은 줄었으나 수주를 하기위해서 경쟁해야 하는 업체의 수는 오히려 늘어 경쟁이 심화되고 있다. 전문건설업체는 현장 업무의 특성상 한명의 직원이 여러 현장의 업무를 수행하고 있으며, 인력공급흐름 각 단계에서 발생하는 정보의 전달이 이루어지지 않아 인력배치가 늦다. 대부분 효율적으로 관리되어야할 인력자원을 시공사 출역관리 시스템에 의존한 관리만을 하고 있어 협력업체는 적정 투입 인력 및 생산성을 제대로 확인할 수 없으며 자원의 생산성에 따라 인력배치가 이루어지지 않는 문제점이 발생되고 있다. 따라서 본 연구에서는 이를 극복할 수 있는 새로운 대안으로 최근 이슈화 되어 전 산업에 적극 활용되고 있는 스마트 폰의 기능중에서 위성항법시스템(GPS)을 활용한 근태 관리 시스템을 제안하고 Web 기반의 PMIS(Project Management Information System)와의 연동을 통한 실시간 정보전송 및 조회를 위한 스마트폰 애플리케이션 프로토타입을 구축함으로써 전문 건설업체 자체적으로 현장 관리를 함에 있어 기여할 수 있는 근태관리 방안을 제시하였다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.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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• 제4권2호
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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.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2005년도 Proceedings of ISRS 2005
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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.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.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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• 제1권4호
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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.