• The Journal of Korea Robotics Society
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• v.7 no.2
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• pp.120-128
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• 2012

The loop closure problem is one of the most challenging issues in the vision-based simultaneous localization and mapping community. It requires the robot to recognize a previously visited place from current camera measurements. While the loop closure often relies on visual bag-of-words based on point features in the previous works, however, in this paper we propose a line-based method to solve the loop closure in the corridor environments. We used both the floor line and the anchored vanishing point as the loop closing feature, and a two-step loop closure algorithm was devised to detect a known place and perform the global pose correction. We propose an anchored vanishing point as a novel loop closure feature, as it includes position information and represents the vanishing points in bi-direction. In our system, the accumulated heading error is reduced using an observation of a previously registered anchored vanishing points firstly, and the observation of known floor lines allows for further pose correction. Experimental results show that our method is very efficient in a structured indoor environment as a suitable loop closure solution.

• The Journal of Korea Robotics Society
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• v.5 no.1
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• pp.55-63
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• 2010

This paper describes performance improvement of GPS/DR Integration system using area decision algorithm and vehicle movement information. In GPS signal blockage area, i.e., tunnel and underground parking area, DR sensor errors are accumulated and navigation solution is gradually diverged. We use the car movement information according to moving area to correct the DR sensor error. Also, vehicle movement is decided as stop, straight line, turn and movement changing region through DR sensor data analysis. The car experiment is performed to verify the supposed method. The results show that supposed method provides small position and heading error than previous method.

• The Journal of the Korea institute of electronic communication sciences
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• v.14 no.1
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• pp.265-274
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• 2019

The paper describes an application of unscented Kalman filter(UKF) for attitude estimation of an unmanned vehicle(UV), which is equipped with a low-cost attitude heading reference system (AHRS). The roll, pitch and yaw required at the correction stage of the UKF are calculated from the measurements of acceleration and geomagnetic field. The roll and pitch are attributed to the measurement of acceleration, while yaw is calculated from the geomagnetic field measurement. Since the measurement of geomagnetic field is vulnerable to distortion by hard-iron and soft-iron effects, the calculated yaw has more uncertainty than the calculated roll and pitch. To reduce the uncertainty of geomagnetic field measurement, the proposed method estimates bias in the geomagnetic field measurement and compensates for the bias for more accurate calculation of yaw. The proposed method is verified through navigation experiments of a UV in a test pool. The results show that the proposed method yields more accurate attitude estimation; thus, it results more accurate location estimation.

• Journal of Biosystems Engineering
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• v.33 no.1
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• pp.58-62
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• 2008

The need for position information in agriculture is gradually increasing for precise control farm vehicle and effective manage farm land. Though geomagnetic sensor has a lot of merits in estimating heading angle of vehicle because of low costs and sensing ability of magnetic north, it is easy that sensor outputs are distorted in electro magnetic field environment. This study was conducted to develop geomagnetic compass which could be available in measuring relative position from reference point correcting output distorted by external electro magnetic field in a small scale field. Magnetic inducing sensor (PNI's Vector2X) which wound enamel coated copper coil on ferrite core in order to measure and correct earth magnetic field. Magnetic azimuth was corrected using the algorithm which estimated amount of magnetic distortion from the difference between each outputs of magnetic sensors that located on the cross shaped base. Developed auto-tuning magnetic sensor was showed less then 5% as bearing accuracy in the strong magnetic field.

• Journal of the Korean Institute of Navigation
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• v.12 no.2
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• pp.23-32
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• 1988

This paper offers a method of magnetic compass adjustment for the vessel alongside the wharf using newly designed magnetic north former, which makes the same magnetic field-change as the turning vessel does. The characteristics of the magnetic north former was examined by observing the deviation curves of the magnetic compass installed on the compass deviascop at laboratory. The magnetic north former consists of A and B arms which hold the permanent bar magnets at the both ends of each arm. The arm is to rotae in the horizontal plane about the vertical axis fixed at the center boss of the magnetic compass and it is to compensate the horizontal plane about the vertical axis fixed at the center boss of the magnetic compass and it is to compensate the horizontal component of the earth's field. The B arm makes the artificial magnetic north around the magnetic compass for every ship's heading. The results of investigation are summarized as follows ; 1. The observation and correction of magnetic compass deviation can be done without swinging the ship, of the effect of D coefficient is negligible. 2. The residual deviation curve of the magnetic compass depends on the accuracy of deduced value of ship's multplier($\lambda$). 3. The errors due to the inaccuracy of deduced value of ship's multiplier change in the same way as the B and C coefficient do.

• Korean Journal of Agricultural and Forest Meteorology
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• v.17 no.4
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• pp.333-339
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• 2015

A thermal time-based phenology model of Kimchi cabbage was developed by using the field observed growth and temperature data for the purpose of accurately predicting heading and harvest dates among diverse cropping systems. In this model the lifecycle of Kimchi cabbage was separated into the growth stage and the heading stage, while the growth amount of each stage was calculated by optimal mathematical functions describing the response curves for different temperature regimes. The parameter for individual functions were derived from the 2012-2014 crop status report collected from seven farms with different cropping systems located in major Kimchi cabbage production area of South Korea (i.e., alpine Gangwon Province for the summer cultivation and coastal plains in Jeonnam Province for the autumn cultivation). For the model validation, we used an independent data set consisting of local temperature data restored by a geospatial correction scheme and observed harvest dates from 17 farms. The results showed that the root mean square error averaged across the location and time period (2012-2014) was 5.3 days for the harvest date. This model is expected to enhance the utilization of the Korea Meteorological Administration's daily temperature data in issuing agrometeorological forecasts for developmental stages of Kimchi cabbage grown widely in South Korea.

• Journal of the Korean Geophysical Society
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• v.9 no.4
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• pp.361-369
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• 2006

This study conducted an initialization test to decide dynamic position using AHRS IMU sensor, and derived attitude correction angles of vehicles against time through regression analysis. It was also found that the heading angle was stabilized with variation less than 1°after 60 seconds. Using these angles, this study carried out an experiment on the determination of dynamic position for each system in the open sky and in a semi-open sky. According to the results, in the open sky, DGPS alone systems were excellent in accuracy but poor in data acquisition, so the moving distance was around 12m. In DGPS/IMU combined system, accuracy and data acquisition were satisfactory and the moving distance was around 0.3m. In a semi-open sky, DGPS alone systems were excellent in accuracy in order of DGPS < FIMU < DGPS/IMU according to average and standard errors obtained with exclusion of places where data were not be obtained. The moving distance was the same as that in the open sky. For DGPS, when places where data were not obtainable were divided into Several block and they were compared, the maximum deviation from the trajectory was up to 41.5m in DGPS alone system, but it was less than 2.2m and average and standard errors were significantly improved in the combined system. When the navigation system was applied to surveys and the result was compared with position error 0.2mm under the guideline for digital map, it was possible to work on maps on a scale of up to 1 : 1,000.

• Journal of Advanced Navigation Technology
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• v.15 no.2
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• pp.181-188
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• 2011

A small UAVs(Unmaned Aerial Vehicles) have limited by the payload capacity which requires miniaturization of a navigation system. In this paper, the performance of the lightweight and small sized AHRS(Attitude Heading Reference System), which is self-developed, is evaluated at low acceleration environment. The designed AHRS adopts the commercial low-cost MEMS sensors. A quaternion-based attitude calculation method, which eliminates singularity with relatively simple algebra, is used. In an attitude correction algorithm, the Kalman filter is used with accelerometers and magnetometers combined. The fabricated AHRS is also evaluated with reference to a COTS(Commercial Off-The-Shelf) AHRS which reports a number of successful applications to a small UAVs. The test results show that the measurements from the fabricated AHRS provide proper attitude output data with acceptable amount of differences(horizontal axis 0.5$^{\circ}$, vertical axis 1.5$^{\circ}$) in test environment.

• Korean Journal of Remote Sensing
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• v.17 no.1
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• pp.45-56
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• 2001

To acquire seabed information, the mosaic images of the seabed were generated using Side Scan Sonar. Short time energy function which is needed for slant range correction is proposed to get the height of Tow-Fish to the reflected acoustic amplitudes of each ping, and that leads to a mosaic image without water column. While generating mosaic image, maximum value, last value and average value are used for the measure of a pixel in the mosaic image and 3-D information was kept by using acoustic amplitudes which were heading for specific direction. As a generating method of mosaic image, low resolution mosaic image which is over 1m/pixel resolution was generated for whole survey area first, and then high resolution mosaic image which is generated under 0.1m/pixel resolution was generated for the selected area. Rocks, ripple mark, sand wave, tidal flat and artificial fish reef are found in the mosaic image.