• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2014년도 추계학술대회
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• pp.42-43
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• 2014

항해와 기상에 관한 경보/예보 정보인 MSI(Maritime Safety Information)는 e-Navigation의 육상기반 서비스인 MSP(Maritime Service Portfolio)중 하나의 서비스로 포함되었고, 유럽 지역의 다양한 e-Navigation 테스트 베드 프로젝트에서 시험 되는 등 중요한 서비스로 인식되고 있다. 본 연구에서는 e-Navigation 시대에 대비하여 항해 환경에 중요도가 매우 높은 MSI 서비스에 대해 프로토타입 개발 연구를 수행 하였으며, 세부 내용으로, MSI 및 NAVTEX 현황에 대해 분석하였고, NAVTEX 운영에 있어서 제약사항과 개선사항을 정리 하였다. 또한 e-Navigation 정보 표준으로 간주되고 있는 S-100 표준을 기반으로 MSI 서비스 프로토타입 기초 연구를 수행 하였다.

• Journal of Astronomy and Space Sciences
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• 제26권1호
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• pp.59-74
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• 2009

Relative navigation system is presented using GPS measurements from a single-channel global positioning system (GPS) simulator. The objective of this study is to provide the real-time inter-satellite relative positions as well as absolute positions for two formation flying satellites in low earth orbit. To improve the navigation performance, the absolute states are estimated using ion-free GRAPHIC (group and phase ionospheric correction) pseudo-ranges and the relative states are determined using double differential carrier-phase data and singled-differential C/A code data based on the extended Kalman filter and the unscented Kalman filter. Furthermore, pseudo-relative dynamic model and modified relative measurement model are developed. This modified EKF method prevents non-linearity of the measurement model from degrading precision by applying linearization about absolute navigation solutions not about the priori estimates. The LAMBDA method also has been used to improve the relative navigation performance by fixing ambiguities to integers for precise relative navigation. The software-based simulation has been performed and the steady state accuracies of 1 m and 6 mm ($1{\sigma}$ of 3-dimensional difference errors) are achieved for the absolute and relative navigation using EKF for a short baseline leader/follower formation. In addition, the navigation performances are compared for the EKF and the UKF for 10 hours simulation, and relative position errors are mm-level for the two filters showing the similar trends.

• 한국항해항만학회지
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• 제39권3호
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• pp.157-163
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• 2015

최근 해양안전에 대한 높은 관심과 ICT 기술의 비약적인 발전에 힘입어 선박에 다양한 디지털 장비들을 도입하는 전자항법체계인 e-Navigation이 크게 주목받고 있다. e-Navigation은 해양안전뿐만 아니라, 해양정보 서비스에서 새로운 ICT 패러다임을 제시하고 있다. 이에 본 연구에서는 e-Navigation과 관련하여 IHO에서 제시하는 새로운 범용 수로데이터모델 S-100을 기반으로 표준화된 전자해도 및 해상정보의 융합 서비스를 효율적으로 제공할 수 있는 Shore 기반의 해상정보 서비스 플랫폼을 제안하고자 한다. 제안된 Shore 기반 해상정보 서비스 플랫폼은 기본적으로 전자해도와 날씨, 조류, AIS 정보 등의 센서정보, 그리고 육상지도 정보와의 융합 처리 및 웹 기반 서비스가 가능하다. 또한, 이러한 플랫폼의 웹 서비스는 스마트 폰 또는 웹 패드의 모바일 단말기에서 간단한 WebApp 또는 App을 이용하여 전자해도 및 다양한 해상정보 서비스의 활용을 가능하게 할 수 있다. 끝으로, 제안된 플랫폼은 기존의 S-57 전자해도와 더불어 S-101 표준을 지원할 수 있으며, 웹 서비스 과정에서의 표준과 관련해서는 ISO 19100 시리즈 및 OGC의 공간정보 웹 서비스 표준을 지원한다.

• 대한공간정보학회지
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• 제16권3호
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• pp.29-34
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• 2008

차량용 네비게이션 시스템은 자가 운전 차량의 증가, 여가 문화 확산 등으로 수요가 폭발적으로 증가하고 있으며, 실시간 교통 정보, 디지털 멀티미디어 방송 등의 기능이 융합되면서 텔레매틱스의 가장 중요한 분야로 급성장하고 있다. 이러한 네비게이션 시스템의 다양한 구성 요소 중 네트워크 데이터는 실세계의 도로망을 반영하며, 경로탐색의 기반이 되는 데이터로 가장 핵심 요소라 할 수 있다. 하지만, 현재의 네비게이션 시스템은 stand-alone 형태로 단말기 내의 네트워크 데이터는 자체가 과거의 데이터로 이를 보완하기 위하여 사용자는 주기적으로 업데이트를 수행해야 하는 단점을 가지고 있다. 따라서 본 연구에서는 무선 통신을 활용하여 사용자가 요구하는 경로를 검증하여 항상 최신의 네트워크 데이터를 활용할 수 있는 기법을 제안하고 시뮬레이션을 통하여 제안 기법의 타당성을 검증하였다.

• 대한임베디드공학회논문지
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• 제3권4호
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• pp.244-250
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• 2008

This paper describes the design and implementation of an unmanned ground vehicle (UGV) and also estimates how well autonomous navigation and remote control of UGV can be performed through the optimized arbitration of several sensor data, which are acquired from vision, obstacle detection, positioning system, etc. For the autonomous navigation, lane detection and tracing, global positioning, and obstacle avoidance are necessarily required. In addition, for the remote control, two types of experimental environments are established. One is to use a commercial racing wheel module, and the other is to use a haptic device that is useful for a user application based on virtual reality. Experimental results show that autonomous navigation and remote control of the designed UGV can be achieved with more effectiveness and accuracy using the proper arbitration of sensor data and navigation plan.

• 한국항해항만학회지
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• 제32권7호
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• pp.529-535
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• 2008

As a method to reduce collision accidents of ships at sea, this paper suggests an expert system for collision avoidance and navigation (hereafter "ESCAN"). The ESCAN is designed and developed by using the theory and technology of expert system and based on the information provided by AIS and RADAR/ARPA system. In this paper the ESCAN is composed of four(4) components; Facts/Data Base in charge of preserving data from navigational equipment, Knowledge Base storing production rules of the ESCAN, Inference Engine deciding which rules are satisfied by facts or objects, User System Interface for communication between users and ESCAN. The ESCAN has the function of real--time analysis and judgment of various encountering situations between own ship and targets, and is to provide navigators with appropriate plans of collision avoidance and additional advice and recommendation This paper, as a basic study, is to introduce the basic design and function of ESCAN.

• 한국항해항만학회지
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• 제27권3호
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• pp.273-282
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• 2003

This paper proposes a sensor-fusion technique where rho data sets for the previous moments are properly transformed and fused into the current data sets to enable accurate measurement, such as, distance to an obstacle and location of the service robot itself. In the conventional fusion schemes, the measurement is dependent only on the current data sets. As the results, more of sensors are required to measure a certain physical promoter or to improve the accuracy of the measurement. However, in this approach, intend of adding more sensors to the system, the temporal sequence of the data sets are stored and utilized for the measurement improvement. Theoretical basis is illustrated by examples md the effectiveness is proved through the simulation. Finally, the new space and time sensor fusion (STSF) scheme is applied to the control of a mobile robot in the indoor environment and the performance was demonstrated by the real experiments.

• 한국항해항만학회지
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• 제46권5호
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• pp.409-417
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• 2022

The International Association of Lighthouse Authorities (IALA) utilizes a questionnaire to investigate the status of Aids to Navigation (AtoN) around the world. However, results of the IALA questionnaire have limited use because respondent understanding is inconsistent. In addition, there is uncertainty regarding the appropriateness of the questionnaire content. Furthermore, the overall response rate is low. Therefore, the status of AtoN is not clearly understood. AtoN data from around the world are generated hourly. Thus, big data solutions are required to effectively exploit the information. Digitization of analog data is an important component of building big data. Hence, the IALA has developed a Maritime Resource Name (MRN) scheme and an information exchange standard. Here, we used the AtoN information exchange standard and designed an S-201-based big data construction process that could collect and manage global AtoN information. In this study, construction of an IALA AtoN portal was proposed as the core of the construction of the AtoN big data. The process was divided into three stages. IALA AtoN portal is developed by IALA with the goal to provide various meaningful statistical analysis results based on AtoN data while managing AtoN information around the world based on S-201. If an AtoN portal capable of constructing S-201-based big data is developed, then a data collection and storage system that can gather basic S-201 AtoN data from the IALA and global AtoN management agencies could be achieved. Furthermore, insightful statistical analysis of AtoN status worldwide and changes in manufacturing technology will be possible.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.29-29
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• 2000

This paper describes the design and implementation of a high-speed navigation computer to achieve precision navigation performance with Strapdown INS. The navigation computer inputs are velocity and angular increment data from the ISA at the signal of the 2404Hz interrupt and performs the removal of gyro block motion and the compensation of high dynamic errors at the 200Hz. For high-speed and high-accuracy, the computer consists of the 68040 micro-processor, 128k Memories, FPGAs, and so on. We show that the computer satisfies the required performance by In-Run navigation tests.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.449-454
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• 2006

The advantage of the latest technical development in the field of automation, electronics, telecommunications, informatics, geomatics and global position fixing techniques, achievement in data storing, processing, analysing, transferring and visualisation must be taken into account and applied to the maritime technology in the very near future. We should build new e-Navigation era using those technologies [16]. In the paper the Author proposes to introduce and define two new terms: navitronics - formed by analogy to mechatronics, and nautomatics - created by analogy to geomatics and telematics to be combination of those two disciplines in navigational applications.