• Journal of Biosystems Engineering
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• 제40권1호
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• pp.28-34
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• 2015

Purpose: This study aimed to install an RTK-GPS (Real Time Kinematic-Global Positioning System) and IMU (Inertial Measurement Unit) on a tractor used in a farm to measure positions, pasture topography, posture angles, and vibration accelerations, translate the information into maps using the GIS, analyze the characteristics of grass harvesting work, and establish new technologies and construction standards for pasture infrastructure improvement based on the analyzed data. Method: Tractor's roll, pitch, and yaw angles and vibration accelerations along the three axes during grass harvesting were measured and a GIS map prepared from the data. A VRS/RTK-GPS (MS750, Trimble, USA) tractor position measuring system and an IMU (JCS-7401A, JAE, JAPAN) tractor vibration acceleration measuring systems were mounted on top of a tractor and below the operator's seat to obtain acceleration in the direction of progression, transverse acceleration, and vertical acceleration at 10Hz. In addition, information on regions with bad workability was obtained from an operator performing grass harvesting and compared with information on changes in tractor posture angles and vibration acceleration. Results: Roll and pitch angles based on the y-axis, the direction of forward movements of tractor coordinate systems, changed by at least $9-13^{\circ}$ and $8-11^{\circ}$ respectively, leading to changes in working postures in the central and northern parts of the pasture that were designated as regions with bad workability during grass harvesting. These changes were larger than those in other regions. The synthesized vectors of the vibration accelerations along the y-axis, the x-axis (transverse direction), and the z-axis (vertical direction) were higher in the central and northwestern parts of the pasture at 3.0-4.5 m/s2 compared with other regions. Conclusions: The GIS map developed using information on posture angles and vibration accelerations by position in the pasture is considered sufficiently utilizable as data for selection of construction locations for pasture infrastructure improvement.

• 제어로봇시스템학회논문지
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• 제22권7호
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• pp.562-569
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• 2016

This paper proposes a navigation system with a robust localization method for an underwater unmanned vehicle. For robust localization with IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and depth sensors, the EKF (Extended Kalman Filter) has been utilized to fuse multiple nonlinear data. Note that the GPS (Global Positioning System), which can obtain the absolute coordinates of the vehicle, cannot be used in the water. Additionally, the DVL has been used for measuring the relative velocity of the underwater vehicle. The DVL sensor measures the velocity of an object by using Doppler effects, which cause sound frequency changes from the relative velocity between a sound source and an observer. When the vehicle is moving, the motion trajectory to a target position can be recorded by the sensors attached to the vehicle. The performance of the proposed navigation system has been verified through real experiments in which an underwater unmanned vehicle reached a target position by using an IMU as a primary sensor and a DVL as the secondary sensor.

• 대한공간정보학회지
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• 제18권2호
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• pp.21-28
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• 2010

대기오염 모니터링은 삶의 질 향상에 직접적으로 연관되어 많은 관심을 받고 있다. 현재 운영되고 있는 대부분의 대기질 정보 시스템은 특정장소에 측정소를 구축하여 대기 질을 측정하고 있으며, 고가의 장비를 사용하기 때문에 다양한 장소에 설치하여 운영하는데 어려움을 겪고 있다. 본 연구에서는 이러한 문제를 보완하기 위하여 소형화 측정시스템을 구현하였다. 뿐만 아니라 제작비용을 최소화하여 대기 오염 예보에 적용할 수 있는 무선센서 시스템을 구현하였다. 본 연구에서 개발한 대기오염 모니터링 시스템은 대기오염을 측정하기 위한 센서부, 취득된 대기오염 정보를 처리하는 중앙처리부, 전원공급을 위한 전원부, 그리고 무선으로 데이터를 송수신하기 위한 무선회로를 구성하였으며, 실제 현장에 직접 적용할 수 있도록 구성하였다. 또한, Global Positioning System(GPS) 회로를 장착하여 센서의 위치 정보를 무선 송신할 수 있도록 함으로써 실시간 위치추적을 할 수 있도록 하였다. 다양한 대기 환경을 측정하기 위해서 CO, $O_3$, $NO_2$ 센서 및 먼지센서를 장착하였다.

• 한국자동차공학회논문집
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• 제18권3호
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• pp.1-7
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• 2010

Recently, the vehicle driving device has been designed for driver's convenience. Especially, the automobile industry develops the vehicle using the joystick instead of steering wheel from the concept car. The biggest strength of using the joystick is that the driver feels less workload and fatigue than when the driver uses steering wheel. However, this kind of study still needs more research and experiments for more accurate result. Therefore, this research evaluated workload according to the driving device by the survey and the measurement of physiological signal. The reason not only using the survey also using the measurement of physiological signal is to support the result of the survey which is not enough to bring the accurate result. There were tow different kinds of methods to carry out this research; SWAT (Subjective Workload Assessment Technique) for the survey and the biopac equipment for the measurement of physiological signal. Furthermore, previously established driving simulator, GPS (Global Positioning System), and Seoul-Cheonan virtual expressway DB were used for the experiment. As the result of the experiment with 13 subjects, it was certain that using joystick device brings less workload and fatigue to the drivers than using steering wheel following both methods-the survey and the measurement of physiological signal. Also, it confirmed the significant result from the SPSS (Statistical Package for the Social Sciences) statistics analysis program.

• 한국측량학회지
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• 제34권2호
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• pp.153-159
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• 2016

Rivers refer to either natural or artificial structures whose primary functions are flood control and water conservation. Due to recent localized torrential downpours led by climate change, large amounts of eroded soil have been carried away, forming deposits downstream, which in turn degrades the capacity to fulfill these functions. To manage rivers more effectively, we need data on riverbed erosion and deposition. However, environmental factors make it challenging to take measurements in rivers, and data errors tend to prevent researchers from grasping the current state of erosions and deposits. In this context, the aim of the present study is to provide basic data required for river management. To this end, the author made annual measurements with a Real-time Kinematic-Global Positioning System (RTK-GPS) and a total station in Pats Cabin Canyon, Oregon, United States, and also prepared thematic maps of erosion and deposition thickness as well as water depth profiles based on a GIS spatial analysis. Furthermore, the author statistically analyzed the accuracy of three dimensional (3D) measurement points and only used the data that falls within two standard deviations (i.e. ±2σ). In addition, the author determined a threshold for a DEM of Difference (DoD) by installing measurement points in the rivers and taking measurements, and then estimated erosion and deposition thickness within a confidence interval of ±0.1m. Based on the results, the author established reliable data on river depth profiles and thematic maps of erosion and deposition thickness using pre-determined work flows. It is anticipated that the riverbed data can be utilized for effective river management.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.179-184
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• 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.

• 한국전자파학회논문지
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• 제24권7호
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• pp.678-685
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• 2013

본 논문에서는 하이브리드 급전 구조를 가지는 이중 대역 GPS 패치 안테나를 설계하였다. 설계된 개별 안테나는 GPS 배열 안테나로 사용되며, 배열에서 개별 안테나의 방향을 조절하여 패턴 왜곡 및 간섭을 최소화하였다. 제안된 안테나는 GPS $L_1$(1.5754 GHz), $L_2$(1.2276 GHz) 대역에서 각각 공진하는 2개의 방사 패치를 가지고 있으며, 광대역 및 원형 편파 특성을 구현하기 위해 칩 커플러를 이용한 2-포트 급전 방법을 사용하였다. 설계된 개별 안테나를 각각의 장착 위치에서 네 방향(${\phi}=0^{\circ}$, ${\phi}=90^{\circ}$, ${\phi}=180^{\circ}$, ${\phi}=270^{\circ}$)으로 돌려가며 중앙 안테나와 가장 적은 패턴 왜곡과 간섭을 가지는 방향으로 안테나를 장착하였다. 배열 안테나 측정 결과, 중앙 안테나의 전면 방향 이득은 $L_1$과 $L_2$ 대역에서 0.3 dBic, -1.0 dBic, 측면 안테나의 전면 방향 이득은 $L_1$과 $L_2$ 대역에서 1.6 dBic, 1.0 dBic를 가지며, 이를 통해 제안된 배열 안테나가 이중 대역 GPS 배열 안테나로 사용 가능함을 확인하였다.

• 한국해양공학회지
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• 제33권5호
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• pp.470-478
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• 2019

Because the global positioning system (GPS) is not available in underwater environments, an inertial navigation system (INS)/doppler velocity log (DVL) integrated navigation system is generally implemented. In general, an INS/DVL integrated system adopts a loosely coupled method. However, in this loosely coupled method, although the measurement equation for the filter design is simple, the velocity of the body frame cannot be accurately measured if even one of the DVL transducer signals is not received. In contrast, even if only one or two velocities are measured by the DVL transducers, the tightly coupled method can utilize them as measurements and suppress the error increase of the INS. In this paper, a filter was designed to regenerate the measurements of failed transducers by taking advantage of the tightly coupled method. The regenerated measurements were the normal DVL transducer measurements and the estimated velocity in RPM. In order to effectively estimate the velocity in RPM, a filter was designed considering the effects of the tide. The proposed filter does not switch all of the measurements to RPM if the DVL transducer fails, but only switches information from the failed transducer. In this case, the filter has the advantage of being able to be used as a measurement while continuously estimating the RPM error state. A Monte Carlo simulation was used to determine the performance of the proposed filters, and the scope of the analysis was shown by the standard deviation ($1{\sigma}$, 68%). Finally, the performance of the proposed filter was verified by comparison with the conventional tightly coupled method.

• 한국항해항만학회지
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• 제34권8호
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• pp.603-607
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• 2010

Loran (LOang RAnge Navigation) 신호에 의한 항법은 GPS (Global Positioning System) 활성화 전까지 주요한 항법시스템으로 이용되어 왔으며, 특히 선박들의 중장거리 항행에 있어서 필수적인 기능을 담당하였다. 그러나 산업의 발전과 더불어 항행 외에 항만 근접과 육로 항법으로서의 백업기능 그리고 정밀시각활용 등과 같은 분야에서는 현재 활용할 수 있는 성능 보다 우수한 정확도를 요구한다. 그 정확도를 향상시킬 수 있는 방법으로 Loran 송신국과 사용자 위치 사이의 전파지연 즉, ASF (Additional Secondary Factor)를 정확히 측정하여 보정하는 방법이 이용되고 있다. 본 연구에서는 우리나라 포항의 로란-C 주국(9930M)에서 발사하는 신호를 이용하였으며 TOC (Time of Coincidence) 테이블이 없는 Loran 신호 송출시스템에서 절대시간 지연을 측정할 수 있는 기법을 이용하여 포항 로란송신국으로부터 33 km 이내의 4 지점에서 측정하여 비교하였다. 측정결과 33 km 지점의 경우에 전파지연오차에 의하여 약 210 m의 거리오차가 발생하였지만 ASF 보정에 의해 40 m의 거리오차로 줄일 수 있음을 확인하였다.

• 전기학회논문지
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• 제61권10호
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• pp.1483-1488
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• 2012

This paper analyzed the precision and accuracy of the altitude-aided GNSS using the altitude information from digital map. The precision of altitude-aided GNSS is analysed using the theoretically derived DOP. It is confirmed that the precision of altitude-aided GNSS is superior to the general 3D positioning method. It is also shown that the DOP of altitude-aided GNSS is independent of altitude bias error while the accuracy was influenced by the altitude bias error. Furthermore, it is shown that, since the altitude bias error influenced differently to each pseudorange measurement, the effect of the altitude bias error is more serious than clock bias error which does not influence position error at all. The results are evaluated by the simulation using the commercial RF simulator and GPS receiver. It confirmed that altitude-aided GNSS could improve not only precision but also accuracy if the altitude bias error are small. These results are expected to be easily applied for the performance improvement to the land and maritime applications.