• 한국항공우주학회지
• /
• 제48권7호
• /
• pp.513-522
• /
• 2020

본 논문은 PSD와 이종 센서 융합을 이용한 상대 항법 알고리즘에 대해 기술한다. 추종 시스템(Chaser)과 목표 시스템(Target) 간의 상대 항법을 수행하기 위해 하드웨어 시스템을 구축하고 알고리즘을 설계하여 시뮬레이션을 수행하였다. 이를 통해 상대 거리에 따른 오차 발생 경향을 확인하여 이종 센서 융합에 대한 분석을 수행하였다. 이후 구축한 하드웨어 시스템으로 지상 시험 환경을 구성하여 측정값을 획득하고 이를 후처리하여 상대 항법 알고리즘의 성능을 최종적으로 확인하였다.

• International Journal of Aeronautical and Space Sciences
• /
• 제14권4호
• /
• pp.369-378
• /
• 2013

This paper presents a vision/LiDAR integrated navigation system that provides accurate relative navigation performance on a general ground surface, in GNSS-denied environments. The considered ground surface during flight is approximated as a piecewise continuous model, with flat and slope surface profiles. In its implementation, the presented system consists of a strapdown IMU, and an aided sensor block, consisting of a vision sensor and a LiDAR on a stabilized gimbal platform. Thus, two-dimensional optical flow vectors from the vision sensor, and range information from LiDAR to ground are used to overcome the performance limit of the tactical grade inertial navigation solution without GNSS signal. In filter realization, the INS error model is employed, with measurement vectors containing two-dimensional velocity errors, and one differenced altitude in the navigation frame. In computing the altitude difference, the ground slope angle is estimated in a novel way, through two bisectional LiDAR signals, with a practical assumption representing a general ground profile. Finally, the overall integrated system is implemented, based on the extended Kalman filter framework, and the performance is demonstrated through a simulation study, with an aircraft flight trajectory scenario.

• 한국항해항만학회:학술대회논문집
• /
• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.2
• /
• pp.9-14
• /
• 2006

Galileo is the European Global Navigation Satellite System, under civilian control, and consists on a constellation of medium Earth orbit satellites and its associated ground infrastructure. Galileo will provide to their users highly accurate global positioning services and their associated integrity information. The elements in charge of the computation of Galileo navigation and integrity information are the OSPF (Orbit Synchronization Processing Facility) and IPF (Integrity Processing Facility), within the Galileo Ground Mission Segment (GMS). Navigation algorithms play a key role in the provision of the Galileo Mission, since they are responsible for computing the essential information the users need to calculate their position: the satellite ephemeris and clock offsets. Such information is generated in the Galileo Ground Mission Segment and broadcast by the satellites within the navigation signal, together with the expected a-priori accuracy (SISA: Signal-In-Space Accuracy), which is the parameter that in fault-free conditions makes the overbounding the predicted ephemeris and clock model errors for the Worst User Location. In parallel, the integrity algorithms of the GMS are responsible of providing a real-time monitoring of the satellite status with timely alarm messages in case of failures. The accuracy of the integrity monitoring system is characterized by the SISMA (Signal In Space Monitoring Accuracy), which is also broadcast to the users through the integrity message.

• 한국우주과학회:학술대회논문집(한국우주과학회보)
• /
• 한국우주과학회 2000년도 한국우주과학회보 제9권1호
• /
• pp.37-37
• /
• 2000

• 한국우주과학회:학술대회논문집(한국우주과학회보)
• /
• 한국우주과학회 1998년도 한국우주과학회보 제7권1호
• /
• pp.63.1-63
• /
• 1998

• 한국지능시스템학회:학술대회논문집
• /
• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
• /
• pp.500-503
• /
• 2003

The navigation problem of robot is one of the main themes to deal with conficts or interferences between obstacles and the robot itself In this case, while the robot avoids obstacles on the space, the passage route should be determined efficiently. In order to solve problems above, we have come up with the distance field space medel (DFM) and then, under known environment, we have presented the distance field A algorithm for passage route path search. In this research, the method of performing the 3-dimensional passage route path search of robot under unknown environment is proposed. It is shown that the authors can build the distance search model the does not need space division by taking into account of sensor information to a distance field space model, and constructing this information as virtual obstacle information.

• 한국항행학회논문지
• /
• 제13권6호
• /
• pp.984-990
• /
• 2009

하프토닝은 단색으로 다양한 계조의 색단계를 표현하는 방법으로 인쇄 매체와 같은 분야에서 제한된 색으로 다양한 톤을 표현할 수 있도록 해주는 매우 중요한 영상처리기법이다. 본 논문에서는 공간채움곡선 (Space-Filling Curve)에 의한 하프토닝 방법의 대안으로 미로 생성 알고리즘에 기반한 새로운 하프토닝 방법을 제안한다. 기존의 공간채움곡선에 의한 오류 확산방법은 규칙적인 스캔 패턴으로 인해 해프토닝의 결과에도 규칙적인 패턴이 발생한다. 이러한 부분을 개선하기 위해 공간채움곡선 대신 미로의 경로를 사용함으로써 규칙적인 패턴을 제거하였다.

• Journal of Positioning, Navigation, and Timing
• /
• 제3권3호
• /
• pp.123-129
• /
• 2014

The real-time kinematic (RTK) is one of precise positioning methods using Global Positioning System (GPS) data. In the long baseline GPS RTK, the ionospheric and tropospheric delays are critical factors for the positioning accuracy. In this paper we present RTK algorithms for long baselines more than 100 km with estimating tropospheric delays. The state vector is estimated by the extended Kalman filter. We show the experimental results of GPS RTK for various baselines (162.10, 393.37, 582.29, and 1283.57 km) by using the Korea Astronomy and Space Science Institute GPS data and one International GNSS Service (IGS) reference station located in Japan. As a result, we present that long baseline GPS RTK can provide the accurate positioning for users less than few centimeters.

• 한국항해항만학회:학술대회논문집
• /
• 한국항해항만학회 2020년도 추계학술대회
• /
• pp.64-65
• /
• 2020

현대화펀드를 통한 여객선 건조 지원을 통해 거주구 실내공간 디자인 수준은 향상되었지만, 여전히 선원이 활동하는 작업공간은 크게 개선되지 않는 상태이다. 본 연구는 여객선 선원 작업공간 중 조타실과 기관실의 색채환경을 조사한다. 선박 작업공간 환경의 실내디자인 특수성을 제시하고 이에 맞는 색채환경, 제안하는 색값을 통해 선원의 정신건강 증진과 안전한 근무환경을 조성하는 것에 있다.

• 한국우주과학회:학술대회논문집(한국우주과학회보)
• /
• 한국우주과학회 2008년도 한국우주과학회보 제17권2호
• /
• pp.26.3-26.3
• /
• 2008

This research develops a GPS-based formation-flying testbed (FFTB) for formation navigation and control. The FFTB is a simulator in which spacecraft simulation and modeling software and loop test capabilities are integrated for test and evaluation of spacecraft navigation and formation control technologies. The FFTB is composed of a GPS measurement simulation computer, flight computer, environmental computer for providing true environment data and 3D visualization computer. The testbed can be simulated with one to two spacecraft, thus enabling a variety of navigation and control algorithms to be evaluated. In a formation flying simulation, GPS measurement are generated by a GPS measurement simulator to produce pseudorange, carrier phase measurements, which are collected and exchanged by the flight processors and subsequently processed in a navigation filter to generate relative and/or absolute state estimates. These state estimates are the fed into control algorithm, which are used to generate maneuvers required to maintain the formation. In this manner, the flight processor also serves as a test platform for candidate formation control algorithm. Such maneuvers are fed back through the controller and applied to the modeled truth trajectories to close simulation loop. Currently, The FFTB has a closed-loop capability of simulating a satellite navigation solution using software based GPS measurement, we move forward to improve using SPIRENT GPS RF signal simulator and space-based GPS receiver