• International journal of advanced smart convergence
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• v.9 no.3
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• pp.207-214
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• 2020

Currently, the operation of unmanned aerial vehicle (UAV) is regulated to be able to fly only within the visible range, but in recent years, the needs for operation in the invisible area, in the urban area and at night have increased. In order to operate UAVs in the invisible area, at night, and in the urban area, a flight path for UAVs must be prepared like those operated by manned aircraft, and for this, it is necessary to establish an unmanned aircraft system traffic management (UTM). In order to establish the UTM, information on the minimum separation distance to prevent collisions with UAVs and buildings is required, and accordingly, information on the navigation performance of UAVs is required. In order to analyze the navigation performance of an UAV, total system error (TSE), which is the difference between the planned flight path and the actual location of the UAV, is required. If the collected data are insufficient and classification according to integrity, independence, and direction is not performed, accurate navigation performance is not derived. In this paper, propose a navigation performance analysis method of UAV that is derived TSE using flight data and modeled with normal distribution, analyze performance.

• Journal of Korea Multimedia Society
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• v.18 no.3
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• pp.387-400
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• 2015

A fuzzy logic based mobile robot navigation system was developed to improve the driving ability without trapping inside obstacles in complex terrains, which is one of the most concerns in robot navigation in unknown terrains. The navigation system utilizes the data from ultrasonic sensors to recognize the distances from obstacles and the position information from a GPS sensor. The fuzzy navigation system has two groups of behavior rules, and the robot chooses one of them based on the information from sensors while navigating for the targets. In plain terrains the robot with the proposed algorithm uses one rule group consisting of behavior rules for avoiding obstacle, target steering, and following edge of obstacle. Once trap is detected the robot uses the other rule group consisting of behavior rules strengthened for following edge of obstacle. The output signals from navigation system control the speed of two wheels of the robot through the fuzzy logic data process. The test was conducted in the Matlab based mobile robot simulator developed in this study, and the results show that escaping ability from obstacle is improved.

• Journal of the Korea Institute of Military Science and Technology
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• v.2 no.2
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• pp.186-196
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• 1999

The CPS provides data with long-term stability independent of passed time and the INS provides high-rate data with short-term stability. By integrating these complementary systems, a highly accurate navigation system can be achieved. In this paper, a loosely-coupled GPS/INS integration system is designed. It is a simple structure and is easy to implement and preserves independent navigation capability of GPS and INS. The integration system consists of a NCU, an IMU, a GPS receiver, and a monitoring system. The navigation algorithm in the NCU is designed under the multi-tasking environment based on a real-time kernel system and the monitoring system is designed using the Visual C++. The integrated Kalman filter is designed as a feedback formed 15-state filter, in which the states are position errors, velocity errors, attitude errors and sensor bias errors. The van test result shows that the integrated system provides more accurate navigation solution then the inertial or the GPS-alone navigation system.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.4
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• pp.427-433
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• 2019

This paper propose a fuzzy inference model for map building and navigation for a mobile robot with an active camera, which is intelligently navigating to the goal location in unknown environments using sensor fusion, based on situational command using an active camera sensor. Active cameras provide a mobile robot with the capability to estimate and track feature images over a hallway field of view. In this paper, instead of using "physical sensor fusion" method which generates the trajectory of a robot based upon the environment model and sensory data. Command fusion method is used to govern the robot navigation. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a command fusion technique is introduced, where the sensory data of active camera sensor for navigation experiments are fused into the identification process. Navigation performance improves on that achieved using fuzzy inference alone and shows significant advantages over command fusion techniques. Experimental evidences are provided, demonstrating that the proposed method can be reliably used over a wide range of relative positions between the active camera and the feature images.

• Journal of Positioning, Navigation, and Timing
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• v.10 no.4
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• pp.243-251
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• 2021

Real-Time Kinematic (RTK) is a phase-based differential GNSS technique and uses additional observations from permanent reference stations to mitigate or eliminate effects like atmospheric delays or satellite clocks and orbit errors. In particular, as the position accuracy required in the fields of autonomous vehicles and drones is gradually increasing, the demand for RTK-based precise navigation that can provide cm-level position is increasing. Recently, with the rapid growth of the open-source software market, the use of open-source software for building navigation system of unmanned vehicles, which is difficult to mount an expensive GNSS receivers, is gradually increasing. RTKLIB is an open-source software package that can perform RTK positioning and is widely used for research and education purposes. However, since the performance and stability of RTK algorithm of RTKLIB is inevitably inferior to that of commercial GNSS receivers, users need to verify whether RTKLIB can satisfy the navigation performance requirements of unmanned vehicles. Therefore, in this paper, the performance evaluation of the RTK positioning algorithm of RTKLIB was performed using GNSS observation data acquired in a dynamic environment. Therefore, in this paper, the RTK positioning performance of RTKLIB was evaluated using GNSS observation data acquired in a dynamic environment. Our results show that the current RTK algorithm of RTKLIB is not suitable for precise navigation of unmanned vehicles.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2012.06a
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• pp.507-509
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• 2012

IHO has established S-100 Standard profiled from ISO 19100 GIS standards for standardization and improvement of hydrographic data and are developing S-10X Standards. IMO is implementing the e-Navigation strategy for maritime safety and marine environment protection and has established the CMDS as information standard framework which will be developed from the S-100 standard. The development domain of e-Navigation can be divided into onboard, communication network, onshore and VTS is a core actor in onshore system. In this study, we analyzed the effects of S-100 standard development on VTS through e-Navigation strategy of IMO and suggested the cooperation between hydrographic fields and VTS fields under e-Navigation strategy.

• Journal of the Korean Society of Marine Environment & Safety
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• v.21 no.2
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• pp.164-170
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• 2015

This study proposes the improvement of maritime traffic management for domestic ships and fishing vessels by introducing the e-navigation environment. This study discusses the development of present Vessel Traffic service (VTS) in a systematic aspect and a fuctional aspect. The concept and architecture of e-navigation operation system based on the General Information Center on Maritime Safety and Security (GICOMS) are proposed as a solution for the improvement of maritime traffic management in Korean coastal waters. Especially, means of data exchange between ships and ship-shore based on the Maritime Cloud and regional e-Data Center are discussed. This study will help to the implementation of the Korean e-navigation project which focuses on the safety of small ships and fishing vessels. In the future, it is needed to study for the development and operation of accident prevention system under the e-navigation environment.

• Proceedings of the KSRS Conference
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• 2007.03a
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• pp.251-256
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• 2007

FY-2C 위성은 2004년 10월 발사되어 동경 105도 에 서 운영 중인 중국의 정지 궤도 기상위성 이며 관측 영상은 한반도 지역을 포함하고 있다. 현재 FY-2C S-VISSR2.0[l]에 대한 Navigation 알고리즘이 공개되어 있지 않으며，Navigation을 위하여 S-VISSR2.0에 포함되어 있는 Simplified Mapping Block 정보를 사용하여야 한다. Simplified Mapping Block은 5도 간격의 정보만을 제 공하므로 관측 지 역 의 모든 좌표에 대한 Navigation 정보를 얻기 위해서는 보간볍을 사용하여야 한다. 그러나 보간법은 기준 점에서 멀어질수록 오차가 크게 나타날 수 있다. 따라서 본 논문에서는 모든 좌표에 대한 Navigation 정보를 얻을 수 있는 MTSAT Image Navigation 알고리즘을 FY-2C S-VISSR2.0에 적용하여 Simplified Mapping Block과의 차이를 분석하였다. 분석 방법은 Simplified Mapping Block과 MTSAT Image Navigation[2] 알고리즘을 5도 간격의 격자 점(위경도)에서 Column 및 Line 값 비교， Geo-location된 영상의 품질 비교，WDB2 Map Data의 Coast Line과의 비교를 수행하였다. 분석 결과 격자 점에서의 Column, Line 값은 0.5 이내의 차이 값을 나타내었다. 그리고 Geo-location된 영상 비교에서는 격자 점 주변에서 영상의 차이가 없으나 격자 점에서 멸어질수록 영상의 품질은 MTSAT Image Navigation 알고리즘으로 생성한 영상이 더 우수하였다. WDB2 Map Data의 Coast Line과의 비교에서 오차는 동일하게 발생하였으며，영상의 Column 축에 대한 오차는 평균 1.847 Pixel, 최대 6 Pixel, 최소 oPixel 이며， Line 축에 대한 오차는 평균 0.135 Pixel, 최대 4 Pixel, 최소 0 Pixel을 나타내었다.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.2
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• pp.33-37
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• 2006

Since 1993, the civil aviation community through RTCA (Radio Technical Commission for Aeronautics) and the ICAO (International Civil Air Navigation Organization) have been working on the definition of GNSS augmentation systems that will provide improved levels of accuracy and integrity. These augmentation systems have been classified into three distinct groups: Aircraft Based Augmentation Systems (ABAS), Space Based Augmentation Systems (SBAS) and Ground Based Augmentation Systems (GBAS). The last one is an implemented system to support Air Navigation in CAT-I approaching operation. It consists of three primary subsystems: the GNSS Satellite subsystem that produces the ranging signals and navigation messages; the GBAS ground subsystem, which uses two or more GNSS receivers. It collects pseudo ranges for all GNSS satellites in view and computes and broadcasts differential corrections and integrity-related information; the Aircraft subsystem. Within the area of coverage of the ground station, aircraft subsystems may use the broadcast corrections to compute their own measurements in line with the differential principle. After selection of the desired FAS for the landing runway, the differentially corrected position is used to generate navigation guidance signals. Those are lateral and vertical deviations as well as distance to the threshold crossing point of the selected FAS and integrity flags. The Department of Applied Science in Naples has create for its study a virtual GBAS Ground station. Starting from three GPS double frequency receivers, we collect data of 24h measures session and in post processing we generate the GC (GBAS Correction). For this goal we use the software Pegasus V4.1 developed from EUROCONTROL. Generating the GC we have the possibility to study and monitor GBAS performance and integrity starting from a virtual functional architecture. The latter allows us to collect data without the necessity to found us authorization for the access to restricted area in airport where there is one GBAS installation.

• Journal of Positioning, Navigation, and Timing
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• v.13 no.1
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• pp.93-102
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• 2024

Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS) integrated navigation systems provide highly accurate and reliable navigation solutions and are widely used as civil and military navigation systems. In order to facilitate the GNSS/INS integrated navigation system development task, a simulator can be used to provide inputs for the GNSS/INS integrated navigation system. In this paper, a simulator design using general-purpose Personal Computer (PC) and Off-The-Shelf (OTS) interface boards for a GNSS/INS integrated navigation system is proposed and implementation results are presented. Requirements of the GNSS/INS integrated navigation system simulator are presented and a design method that satisfies the requirements is described. In order to show the usefulness of the proposed design method, a simulator using a general-purpose PC and OTS interface boards for the GPS/INS integrated navigation system are implemented and verified. The implementation results show that the simulator designed by the proposed method generates the GPS L1 C/A signal and IMU data without any problems.