• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.876-882
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• 2006

This study presents an ultrasonic location awareness system for the ubiquitous computing with absolute position. The flight time of ultrasonic waves is determined by a period detecting technique which is able to extend the sensing range compared with traditional methods. For location awareness, ultrasonic waves are sent successively from each ultrasonic transmitter and synchronized by radio frequency (RF) signal, where the transmitting part is fixed and the receiving part is movable. To expand the recognizing range, cell matching technique and coded ultrasonic technique are introduced. The experimentation for various distances is accomplished to verify the used period detecting technique of U-SAT system. The positioning accuracy by using cell matching is also verified by finding the locations of settled points and the usability of coded ultrasonic technique is verified. As a result, the possibility of ultrasonic location awareness system for the ubiquitous computing can be discussed as a pseudo-satellite system with low cost, a high update rate, and relatively high precision, in the places where CPS is not available.

• Journal of Positioning, Navigation, and Timing
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• v.11 no.4
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• pp.297-304
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• 2022

The models used for ionosphere error correction in positioning using Global Navigation Satellite System (GNSS) are representatively Klobuchar model and NeQuick model. Although these models can correct the ionosphere error in real time, the disadvantage is that the accuracy is only 50-60%. In this study, a method for polynomial modeling of Global Ionosphere Map (GIM) which provides Vertical Total Electron Content (VTEC) in grid type was studied. In consideration of Ionosphere Pierce Points (IPP) of satellites with a receivable elevation angle of 15 degrees or higher on the Korean Peninsula, the target area for model generation and provision was selected, and the VTEC at 88 GIM grid points was modeled as a polynomial. The developed VTEC polynomial model shows a data reduction rate of 72.7% compared to GIM regardless of the number of visible satellites, and a data reduction rate of more than 90% compared to the Slant Total Electron Content (STEC) polynomial model when there are more than 10 visible satellites. This VTEC polynomial model has a maximum absolute error of 2.4 Total Electron Content Unit (TECU) and a maximum relative error of 9.9% with the actual GIM. Therefore, it is expected that the amount of data can be drastically reduced by providing the predicted GIM or real-time grid type VTEC model as the parameters of the polynomial model.

• Journal of Positioning, Navigation, and Timing
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• v.12 no.2
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• pp.129-140
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• 2023

Autonomous driving systems are likely to be operated in various complex environments. However, the well-known integrated Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS), which is currently the major source for absolute position information, still has difficulties in accurate positioning in harsh signal environments such as urban canyons. To overcome these difficulties, integrated Visual/Inertial/GNSS (VIG) navigation systems have been extensively studied in various areas. Recently, a Compressed-State Constraint Kalman Filter (CSCKF)-based VIG navigation system (CSCKF-VIG) using a monocular camera, an Inertial Measurement Unit (IMU), and GNSS receivers has been studied with the aim of providing robust and accurate position information in urban areas. For this new filter-based navigation system, on the basis of time-propagation measurement fusion theory, unnecessary camera states are not required in the system state. This paper presents a performance evaluation of the CSCKF-VIG system compared to other conventional navigation systems. First, the CSCKF-VIG is introduced in detail compared to the well-known Multi-State Constraint Kalman Filter (MSCKF). The CSCKF-VIG system is then evaluated by a field experiment in different GNSS availability situations. The results show that accuracy is improved in the GNSS-degraded environment compared to that of the conventional systems.

• 한국지구물리탐사학회:학술대회논문집
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• 2007.06a
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• pp.353-360
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• 2007

KIGAM has installed a FLARE+ continuous geomagnetic observation system in 1998 in Daejeon of which the IAGA identification code is DZN. The coordinates of the absolute measurement plinth precisely determined by the PDGPS(Post-Processing Differential Global Positioning System) is (127-21-37.19E, 36-22-43.96N, 45.93 m) in WGS84 for the horizontal and from the geoid surface for the vertical. Periodically we have conducted the absolute geomagnetic measurement on the plinth above. We have processed the continuous time-variation 3-axis geomagnetic data measured on arbitrary sensors' coordinates in the observatory and absolute geomagnetic data together to get as the results the time-variation H(orizontal), D(eclination), Z(vertical down), F(scalar calculated from 3 components) and P(Proton Precession Magnetometer Data). We have compared our own data with those calculated from the 10th generation IGRF(International Geomagnetic Reference Field). All the measured data in the DZN Observatory can be acquired through the website http://geomag.kigam.re.kr.

• Journal of Digital Convergence
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• v.11 no.4
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• pp.243-249
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• 2013

In this paper, GPS(Global Positioning System) that can be used outdoors and GPS(Global Positioning System) is not available for indoor Wi-Fi(Wireless Fidelity) using the Android-based location information system has been designed and implemented. Pedestrians in a room in order to estimate the location of the pedestrian's position, regardless of need to obtain the absolute position and relative position, depending on the movement of pedestrians in a row it is necessary to estimate. In order to estimate the initial position of the pedestrian Wi-Fi Fingerprinting was used. Most existing Wi-Fi Fingerprinting position error small WKNN(Weighted K Nearest Neighbor) algorithm shortcoming EWKNN (Enhanced Weighted K Nearest Neighbor) using the algorithm raised the accuracy of the position. And in order to estimate the relative position of the pedestrian, the smart phone is mounted on the IMUInertial Measurement Unit) because the use did not require additional equipment.

• Journal of the Korea Institute of Military Science and Technology
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• v.6 no.1
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• pp.59-67
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• 2003

Multipath is an inevitable error source in radio navigation system such as GPS, it causes signal tracking errors such as carrier tracking errors, code tracking errors. Since code tracking error is a dominant error in absolute positioning, this paper focuses on the improvement of code tracking performance. This paper proposes a method that detects the change of autocorrelation function's slope and mitigates the multipath error. Also, this paper shows the performance evaluation results by post-processing the digitized RF samples.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.382-387
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• 1992

In order to obtain desired arc welding performance, we already developed an arc welding robot system that enabled coordinated motions of dual arm robots. In this system one robot arm holds a welding target as a positioning device, and the other robot moves the welding torch. Concerning to such a dual arm robot system, the positioning accuracy of robots is one important problem, since nowadays conventional industrial robots unfortunately don't have enough absolute accuracy in position. In order to cope with this problem, our robot system employed teaching playback method, where absolute error are compensated by the operator's visual feedback. Due to this system, an ideal arc welding considering the posture of the welding target and the directions of the gravity has become possible. Another problem still remains, while we developed an original teaching method of the dual arm robots with coordinated motions. The problem is that manual teaching tasks are still tedious since they need fine movements with intensive attentions. Therefore, we developed a 3-dimensional vision guided robot control method for our welding robot system with coordinated motions. In this paper we show our 3-dimensional vision sensor to guide our arc welding robot system with coordinated motions. A sensing device is compactly designed and is mounted on the tip of the arc welding robot. The sensor detects the 3-dimensional shape of groove on the target work which needs to be weld. And the welding robot is controlled to trace the grooves with accuracy. The principle of the 3-dimensional measurement is depend on the slit-ray projection method. In order to realize a slit-ray projection method, two laser slit-ray projectors and one CCD TV camera are compactly mounted. Tactful image processing enabled 3-dimensional data processing without suffering from disturbance lights. The 3-dimensional information of the target groove is combined with the rough teaching data they are given by the operator in advance. Therefore, the teaching tasks are simplified

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.22 no.2
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• pp.145-150
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• 2004

A protocol for the web-based GPS data processing system has been developed. The system is developed following the typical ASP system, in which the GPS data acquired by various users can be uploaded through the web and the data is processed with data processing components selected by the users. After the processing, the results are also transported to the users through the web. The developed system is designed for easy software upgrade and it is an synchronous process mode so that the multiple accesses can be handled with high user flexibility. The database components for the efficient GPS data maintenance are developed so that the data from CORS can be used for the data processing. Currently, the absolute and relative positioning algorithms using code measurements are integrated and much more algorithms such as the data quality control, absolute and relative positioning using phases will be integrated in near future.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2003.04a
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• pp.81-92
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• 2003

A protocol for the web-based GPS data processing system has been developed. The system is developed following the typical ASP system, in which the GPS data acquired by various users can be uploaded through the web and the data is processed with data processing components selected by the users. After the processing, the results are also transported to the users through the web. The developed system is designed for easy software upgrade and it is an asynchronous process mode so that the multiple accesses can be handled with high user flexibility. The database components for the efficient GPS data maintenance are developed so that the data from CORS can be used for the data processing. Currently, the absolute and relative positioning algorithms using code measurements are integrated and much more algorithms such as the data quality control, absolute and relative positioning using phases will be integrated in near future.

• Journal of the Korean GEO-environmental Society
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• v.14 no.3
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• pp.51-60
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• 2013

It is proposed the new method to calculate the absolute altitude and horizontal position of worker in construction field. For this research, we used a pressure sensor, MEMS INS sensor to acquire 3D position of worker. The easiest way to show the result of this research is to use smart phone which equipped various digital sensors in this hardware. So we made two softwares: Data acquisition software in Android smart phone and Data monitoring software in PC. During this research, we encountered several kind of problems which have to be overcame. This paper shows these processes and the results of 3D positioning technologies we suggested newly.