• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.9
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• pp.208-214
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• 2014

Vehicle dynamic states used in various advanced driving safety systems are influenced by road geometry. Among the road geometry information, the vehicle pitch angle influenced by road slope and acceleration-deceleration is essential parameter used in pose estimation including the navigation system, advanced adaptive cruise control and others on sag road. Although the road slope data is essential parameter, the method measuring the parameter is not commercialized. The digital map including the road geometry data and high-precision DGPS system such as DGPS(Differential Global Positioning System) based RTK(Real-Time Kinematics) are used unusually. In this paper, low-cost cascade extended Kalman filter(CEKF) based road slope estimation method is proposed. It use cascade two EKFs. The EKFs use several measured vehicle states such as yaw rate, longitudinal acceleration, lateral acceleration and wheel speed of the rear tires and 3 D.O.F(Degree Of Freedom) vehicle dynamics model. The performance of proposed estimation algorithm is evaluated by simulation based on Carsim dynamics tool and T-car based experiment.

• Korean Journal of Remote Sensing
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• v.36 no.6_2
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• pp.1615-1627
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• 2020

The purpose of this study is to compare and analyze the performance of KOMPSAT-3 Digital Surface Model (DSM) made in overseas testbed area. To that end, we collected the KOMPSAT-3 in-track stereo image taken in San Francisco, the U.S. The stereo geometry elements (B/H, converse angle, etc.) of the stereo image taken were all found to be in the stable range. By applying precise sensor modeling using Ground Control Point (GCP) and DSM automatic generation technique, DSM with 1 m resolution was produced. Reference materials for evaluation and calibration are ground points with accuracy within 0.01 m from Compass Data Inc., 1 m resolution Elevation 1-DSM produced by Airbus. The precision sensor modeling accuracy of KOMPSAT-3 was within 0.5 m (RMSE) in horizontal and vertical directions. When the difference map was written between the generated DSM and the reference DSM, the mean and standard deviation were 0.61 m and 5.25 m respectively, but in some areas, they showed a large difference of more than 100 m. These areas appeared mainly in closed areas where high-rise buildings were concentrated. If KOMPSAT-3 tri-stereo images are used and various post-processing techniques are developed, it will be possible to produce DSM with more improved quality.