• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.46 no.6
• /
• pp.479-486
• /
• 2018

In order to ensure reliable navigation performance of a lunar exploration rover, navigation algorithms using additional sensors such as inertial measurement units and cameras are essential on lunar surface in the absence of a global navigation satellite system. Unprecedentedly, Visual Odometry (VO) using a stereo camera has been successfully implemented at the US Mars rovers. In this paper, we estimate the 6-DOF pose of the lunar exploration rover from gray images of a lunar-like terrains. The proposed algorithm estimates relative pose of consecutive images by sparse image alignment based semi-direct VO. In order to overcome vulnerability to non-linearity of direct VO, we add adaptive motion prior weights calculated from a linear function of the previous pose to the optimization cost function. The proposed algorithm is verified in lunar-like terrain dataset recorded by Toronto University reflecting the characteristics of the actual lunar environment.

• Journal of the Korean Association of Geographic Information Studies
• /
• v.10 no.1
• /
• pp.1-9
• /
• 2007

3D data are in great demand for pedestrian navigation recently. For pedestrian navigation, we needs to reconstruct 3D model in detail from people's eye. In order to present spatial features in detail for pedestrian navigation, it is indispensable to develop 3D model not only in outdoor environment but also in indoor environment such as underground shopping complex. However, it is very difficult to acquire 3D data efficiently by mobile mapping without GPS. In this research, 3D shape was acquired by Laser scanner, and texture by CCD(Charge Coupled Device) sensor. Continuous changes position and attitude of sensors were measured by IMU(Inertial Measurement Unit). Moreover, IMU was corrected by relative orientation of CCD images without GPS(Global Positioning System). In conclusion, Reliable, quick, and handy method for acquiring 3D data for indoor environment is proposed by a combination of a digital camera and a laser scanner with IMU.

• Journal of Advanced Navigation Technology
• /
• v.18 no.6
• /
• pp.546-554
• /
• 2014

For improvement of network RTK performance in survey field, Spatial Information Research Institute (SIRI), LX Korea Cadastral Survey Corporation installed 30 GNSS permanent stations in Korea Peninsula, and has been running the MAC-based network RTK service as a test version. In this paper, we introduce the LX GNSS network and analyze the positioning accuracy of the LX MAC RTK service. For field test of the LX MAC RTK service, we installed temporally fixed anchor points and observed simultaneously with VRS of National Geographic Information Institute. As a result, the horizontal position differences and initial times of LX MAC with respect to NGII VRS are $1{\sim}2{\pm}1cm$ and <10 seconds, respectively.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• v.1
• /
• pp.179-184
• /
• 2006

Rapid and high-precision positioning with a Global Navigation Satellite System (GNSS) is feasible only when very precise carrier-phase observations can be used. There are two kinds of mathematical models for ambiguity resolution. The first one is based on both pseudorange and carrier phase measurements, and the observation equations are of full rank. The second one is only based on carrier phase measurement, which is a rank-defect model. Though the former is more commonly used, the latter has its own advantage, that is, ambiguity resolution will be freed from the effects of pseudorange multipath. Galileo will be operational. One of the important differences between Galileo and current GPS is that Galileo will provide signals in four frequency bands. With more carrier-phase data available, frequency combinations with long equivalent wavelength can be formed, so Galileo will provide more opportunities for fast and reliable ambiguity resolution than current GPS. This paper tries to investigate phase only fast ambiguity resolution performance with four Galileo frequencies for short baseline. Cascading Ambiguity Resolution (CAR) method with selected optimal frequency combinations and LAMBDA method are used and compared. To validate the resolution, two tests are used and compared. The first one is a ratio test. The second one is lower bound success-rate test. The simulation test results show that, with LAMBDA method, whether with ratio test or lower bound success rate validation criteria, ambiguity can be fixed in several seconds, 8 seconds at most even when 1 sigma of carrier phase noise is 12 mm. While with CAR method, at least about half minute is required even when 1 sigma of carrier phase noise is 3 mm. It shows that LAMBDA method performs obviously better than CAR method.

• Journal of the Institute of Convergence Signal Processing
• /
• v.12 no.2
• /
• pp.107-112
• /
• 2011

Several developed countries have been developing their own satellite navigation systems, such as Europe's Galileo, China's BEIDOU, and Japan's QZSS, to cope with clock errors and signal vulnerabilities of GPS. In addition, modernization of Loran, eLoran, for GPS backup has been conducted. In Korea, a dependent navigation system has been required and for GPS backup, the need for utilization of time synchronization infrastructure through the modernization of Loran has been raised. Loran signal uses 100Khz groundwave. A significant factor limiting the ranging accuracy of the Loran signal is the ASF arising from the fact that the groundwave signal is likely to propagate over paths of varying conductivity and topography. Thus, an ASF compensation method is very important for Loran and eLoran navigation. This paper introduces the propagation delay model and then compares and analyzes the estimations from the propagation delay model and measured ASFs.

• Journal of Positioning, Navigation, and Timing
• /
• v.11 no.4
• /
• pp.305-316
• /
• 2022

Numerous research revealed a strong association between the ionospheric perturbations and various natural hazards. The ionospheric measurements from Global Navigation Satellite System (GNSS) observations provide the state of electron contents in the ionosphere that contributes to investigate the source events. In this study, two geophysical events occurred on 23 January 2018, the 7.9 Mw earthquake in Alaska and Kusatsu-Shiranesan volcanic eruption in Japan, are examined to characterize the fingerprint of each event in the ionosphere. Firstly, we extracted the Total Electron Content (TEC) from GNSS measurements, then isolated disturbed wave signatures from the TEC measurements that is referred to as a traveling ionospheric disturbance (TID). As TIDs are short-term ionospheric variations, the major trend of GNSS TEC measurements should be properly removed. We applied a natural neighbor interpolation method together with a leave-one-out cross validation technique for detrending. After detrending the TEC, the remaining signals are further enhanced by applying a band-pass filter and TIDs are detected from them. Finally, the detected TIDs are verified as the response of the ionosphere to Kusatsu-Shiranesan volcanic eruption and Gulf of Alaska earthquake which propagated through the ionosphere with an average velocity of 530 m/s and 724 m/s, respectively. In addition, a coherence analysis is conducted to discriminate between the signatures from a volcanic explosion and an earthquake. The analysis reveals the TID waveforms from each single event are highly correlated, while a low correlation is found between the TIDs from the earthquake and explosion. This study supports the claim that different geophysical events induce the distinctive characteristics of TIDs that are detectable by the ionospheric measurements of GNSS.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
• /
• 2006.04a
• /
• pp.93-98
• /
• 2006

2008년 서비스 제공을 목표로 진행 중인 유럽의 Galileo 시스템은 최초의 순수 민간 목적으로 제작되는 광역위성항법시스템(GNSS: Global Navigation Satellite System)이다. 현재 GPS의 SA는 제거되었지만, 군사 목적뿐만 아니라 차량 및 항공 항법, 토목 건설 분야, 텔레메틱스를 통한 민간 활용의 증가로 인해 위성측위에 있어 미국의 의존도는 그 어느 때보다 높은 실정이다. 이에 따른 전략적, 기술적 의존은 절대적이며 잠재적인 위험 요소를 포함하고 있다 이에 본 논문에서는 자체 개발한 소프트웨어를 이용하여 향후 제공될 유럽의 Galileo 시스템을 국내 적용 시뮬레이션하였으며 그 결과를 바탕으로 GPS 단독 처리의 한계를 제시하며 이를 극복할 수 있는 대안으로 Galileo 시스템에 대하여 연구하였다. 이를 통하여 러시아의 GLONASS를 포함하여 다원화되어가는 광역위성항법시스템의 안정적인 측위 환경에 대한 연구가 그 목적이다.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.36 no.1
• /
• pp.9-15
• /
• 2018

Precise regional geoid heights on and around Mount Jiri were calculated and were compared to the KNGeoid14 (Korean National Geoid 2014) model. In this study, gravimetric geoid heights were calculated by using RCR (Remove-Compute-Restore) technique and then hybrid geoid heights were calculated by using the LSC (Least Square Collocation) method in the same area. In addition, gravity observation and GNSS(Global Navigation Satellite System) surveying performed in this study were utilized to determine gravimetric geoid heights and to compute hybrid geoid heights, respectively. The results of the study show that the post-fit error (mean and standard deviation) of hybrid geoid heights was evaluated as $0.057{\pm}0.020m$, while the mean and standard deviation of the differences were -0.078 and 0.085 m, respectively for KNGeoid14. Therefore, hybrid geoid heights in this study show more considerable progress than KNGeoid14.

• Bulletin of the Korean Space Science Society
• /
• 2008.10a
• /
• pp.24.3-24.3
• /
• 2008

The signals transmitted from satellites of Global Navigation Satellite System (GNSS) interact with the plasma of the ionosphere. To study the impact of the ionospheric plasma on GNSS applications a comprehensive knowledge of the ionosphere is required. Especially the correct measurement of the ionosphere such as the peak height of the F2 layer peak electron density (hmF2) is important for the GNSS ionospheric model. Anyang ionosonde station ($37.39^{\circ}N$, $126.95^{\circ}E$) has been operating from October 2000 and the accumulated data for 8 years may allow us to obtain climatological characteristics of middle latitude ionospheric F region for GNSS application. We analyzed the variations of the hmF2 and NmF2 over Anyang station for different conditions of solar activity, geomagnetic activity, season, and local time, and we compared our results with the IRI model.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.9
• /
• pp.977-983
• /
• 2014

A repeat-back jamming signal is an intentionally re-broadcasted GNSS (Global Navigation Satellite System) interference. In this paper, a novel repeat-back jamming detection scheme is proposed. The proposed scheme uses a combined pseudo random noise signal (C-PRN) and is available for a generic GNSS receiver with a single antenna. The C-PRN signal is made by combining several received pseudo random noise signals that had been transmitted from the visible GNSS satellites. Through a Monte-Carlo simulation, the detection probability of a repeat-back jamming signal detected with the proposed scheme is presented.