• ETRI Journal
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• 제26권5호
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• pp.497-500
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• 2004

In this paper, we present a novel idea to integrate a low cost inertial measurement unit (IMU) and Global Positioning System (GPS) for land vehicle localization. By taking advantage of positioning data calculated from an image based on photogrammetry and stereo-vision techniques, errors caused by a GPS outage for land vehicle localization were significantly reduced in the proposed bimodal approach. More specifically, positioning data from the photogrammetric approach are fed back into the Kalman filter to reduce and compensate for IMU errors and improve the performance. Experimental results are presented to show the robustness of the proposed method, which can be used to reduce positioning errors caused by a low cost IMU when a GPS signal is not available in urban areas.

• 품질경영학회지
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• 제49권3호
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• pp.233-243
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• 2021

Purpose: The study focused on localization of the enhanced applique armor kit (EAAK), which are applied to Korea Assault Amphibious Vehicle (KAAV). Methods: For this propose, we developed the manufacturing technology by analyzing the original products. Considering the conditions used in the military, we made the test evaluation criteria. Results: In results, The EAAK developed through this research performs equivalent performance compared to Rafael, Co. Thus, It is possible not only stably supply a parts of EAAK for maintenance, but also to reduce costs due to import substitution effect. Conclusion: It is expected that the manufacturing technology and test evaluation criteria accumulated through this study can be used in the localization of similar parts.

• Journal of Astronomy and Space Sciences
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• 제20권4호
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• pp.359-364
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• 2003

In this paper, we present multi-sensor data fusion for telematics application. Successful telematics can be realized through the integration of navigation and spatial information. The well-determined acquisition of vehicle's position plays a vital role in application service. The development of GPS is used to provide the navigation data, but the performance is limited in areas where poor satellite visibility environment exists. Hence, multi-sensor fusion including IMU (Inertial Measurement Unit), GPS(Global Positioning System), and DMI (Distance Measurement Indicator) is required to provide the vehicle's position to service provider and driver behind the wheel. The multi-sensor fusion is implemented via algorithm based on Kalman filtering technique. Navigation accuracy can be enhanced using this filtering approach. For the verification of fusion approach, land vehicle test was performed and the results were discussed. Results showed that the horizontal position errors were suppressed around 1 meter level accuracy under simulated non-GPS availability environment. Under normal GPS environment, the horizontal position errors were under 40㎝ in curve trajectory and 27㎝ in linear trajectory, which are definitely depending on vehicular dynamics.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 추계학술대회 논문집
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• pp.1501-1514
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• 2008

Recently, so as to solve the urban transportation problem the LRT(Light Rail Transit) system has been studied on the essential technology and the engineering know-how, which lead lower construction cost and higher reliability. The localization development of rubber tired AGT(Automatic Guided Trainsit) system has performed from 1999 to 2004, as a national project of the Minister of Land, Transport and Maritime Affairs. For the application of the rubber tired AGT system in Busan Subway 3-2 Line, this study is focused on the reliability of aluminium profiles vehicle carbody and the establishment of the test and evaluation technologies. In this paper, 3D modeling simulation was applied to the load test of aluminium vehicle carbody. The reliability of the vehicle carbody was estimated as the fatigue test of welded aluminium profiles. From the test and simulation results, it could be concluded that the developed rubber tired AGT shows a good structural reliability and integrity.

• 자동차안전학회지
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• 제9권2호
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• pp.6-12
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• 2017

An autonomous driving system based on a precise digital map is developed. The system is implemented to the Hyundai's Tucsan fuel cell car, which has a camera, smart cruise control (SCC) and Blind spot detection (BSD) radars, 4-Layer LiDARs, and a standard GPS module. The precise digital map has various information such as lanes, speed bumps, crosswalks and land marks, etc. They can be distinguished as lane-level. The system fuses sensed data around the vehicle for localization and estimates the vehicle's location in the precise map. Objects around the vehicle are detected by the sensor fusion system. Collision threat assessment is performed by detecting dangerous vehicles on the precise map. When an obstacle is on the driving path, the system estimates time to collision and slow down the speed. The vehicle has driven autonomously in the Hyundai-Kia Namyang Research Center.

• 전자공학회논문지SC
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• 제49권1호
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• pp.64-73
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• 2012

본 논문에서는 heave 추정 알고리즘 기반의 레이저 거리측정기를 이용한 새로운 선행지형예측시스템을 제안하였다. 본 논문에서 제안하는 선행지형예측시스템은 자율주행 차량이 앞으로 주행할 지면의 형상 정보를 얻기 위한 시스템이다. 이러한 선행지형예측시스템을 구현하기 위하여 측정 범위가 넓고 다양한 환경 조건에서 강인한 레이저 거리 측정기가 일반적으로 이용된다. 이 때 전방 지형을 생성하기 위해 차량의 현재 위치를 알아야 하는데 기존 선행지형예측시스템에서는 heave 움직임을 측정하기 위해 IMU나 가속도계와 같은 가속도 기반 센서들이 주로 이용된다. 하지만 이들 센서는 이동 로봇과 같은 저비용 차량에 사용하기에 고가이며 급 가감속이 발생하는 모바일 로봇에서 측정 오차가 증가하는 문제를 가진다. 이러한 문제를 극복하기 위해 본 논문에서는 주행계와 이전 측정된 지형 정보를 이용한 heave 추정 알고리즘을 제안하였다. 시뮬레이터와 실제 시스템을 이용한 다양한 지형에서 실험을 수행하고 그 결과를 확인해 봄으로써 제안된 heave 추정 알고리즘에 기반한 선행지형예측시스템을 검증하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.378-382
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• 2005

The opening of high speed railway upgraded our land transportation speed limit, causing lots of changes including living and culture and also paving the way for stepping up the railway technology. However, it is also true that we had a limit to adopt the existing railway system structured for 150km/h to the new structure requiring a higher speed of approximate 300km/h due to technological, based on the time and experience. More importantly, heading toward a step of operating such a high speed railway system, it has been practically and quickly proposed that the railway needs high speed railway engineering, maintenance technology of parts of the vehicles to have a stable maintenance foundation and localization of major parts. Therefore, this study was intended to research the actual displacement characteristics in runningg on an actual track for the purpose of developing the protective and maintenance technology of springs and dampers, which are core parts among suspension elements of a high speed railway vehicle. For this, it was researched the actual vehicle test and its interpretation centered on primary spring, which is used for the suspension system of a bogie, body-body dampers and body-bogie yaw damper. Also, to analyze the displacement characteristics of suspension system in the actual conditions of high speed railway vehicles, a vehicle‘s dynamic characteristics was analyzed and interpreted. At the same time, a tester for measuring the actual displacement of such suspension elements was designed and attached to actual vehicles, to measure the displacements that occur in running it on the Seoul-Busan line, one of major lines serviced by KTX. The displacement data gained from the test with actual vehicles was analyzed for its displacement distribution depending on the service sections and frequency, with which the valuable data necessary for any potential breakdown or maintenance in the future could be obtained.