• The Transactions of The Korean Institute of Electrical Engineers
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• 제61권10호
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• pp.1483-1488
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• 2012

This paper analyzed the precision and accuracy of the altitude-aided GNSS using the altitude information from digital map. The precision of altitude-aided GNSS is analysed using the theoretically derived DOP. It is confirmed that the precision of altitude-aided GNSS is superior to the general 3D positioning method. It is also shown that the DOP of altitude-aided GNSS is independent of altitude bias error while the accuracy was influenced by the altitude bias error. Furthermore, it is shown that, since the altitude bias error influenced differently to each pseudorange measurement, the effect of the altitude bias error is more serious than clock bias error which does not influence position error at all. The results are evaluated by the simulation using the commercial RF simulator and GPS receiver. It confirmed that altitude-aided GNSS could improve not only precision but also accuracy if the altitude bias error are small. These results are expected to be easily applied for the performance improvement to the land and maritime applications.

• Journal of the Korean Society of Safety
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• 제23권1호
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• pp.46-50
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• 2008

The purpose of the present study was to investigate the mariner's information characteristics in ship-ta-ship collision situation using the full mission ship-handling simulator. Risk levels of ship-to-ship collision were manipulated by whether the target ship complies with the naval regulations and by movement patterns of target ship. Dependent variables reflecting mariner's information characteristics in ship-ta-ship collision situation were measured in terms of radar detection reaction time, free recall performance of past navigation situation, and subjective ratings for the task difficulty. The results showed that, in general, the mariners appeared to be deteriorated in their radar detection reaction time and free recall performance as the risk of ship-ta-ship collision increased. Also, the mariners tended to rate required tasks more difficult in the high risk ship-ta-ship collision situation.

• The Journal of Korean Institute of Communications and Information Sciences
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• 제39A권6호
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• pp.343-349
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• 2014

In this paper, we propose a three-stage unambiguous tracking scheme for CBOC signals. We evenly divide composite binary offset carrier (CBOC) signal, which was adopted in the Galileo system developed by the European Union (EU), by width of BOC(6,1) signal pulse, and then, generate 12 partial correlations. Then, we generate an unambiguous correlation function by recombining the partial correlations with two kinds of operation. The proposed correlation function is narrower and higher than the conventional correlation functions. From simulation result, it is shown that the proposed correlation function offers a better signal tracking performance over the conventional correlation functions.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• 제35권12호
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• pp.1101-1107
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• 2007

this paper, integrity analysis in Korean region using GPS, modernized GPS, Galileo, SBAS and GBAS is given. The simulation results show that Cat. I requirement can be met using modernized GPS and Galileo alone, however, Cat. II and III are not met even augmenting SBAS because of VPL. A more efficient augmentation such as GBAS reduces VPL to meet Cat. II and III requirements in Korean region. This result will be used to design and implement not only an augmentation system but also regional satellite navigation system.

• Korean Journal of Geomatics
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• 제3권2호
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• pp.129-140
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• 2004

This paper addresses solutions th the challenges of carrier phase integer ambiguity resolution and cycle slip detection/identification, for maintaining high accuracy of an integrated GPS/Pseudolite/INS system. Such a hybrid positioning and navigation system is an augmentation of standard GPS/INS systems in localized areas. To achieve the goal of high accuracy, the carrier phase measurements with correctly estimated integer ambiguities must be utilized to update the system integration filter's states. The contribution presents an effective approach to increase the reliability and speed of integer ambiguity resolution through using pseudolite and INS measurements, with special emphasis on reducing the ambiguity search space. In addition, an algorithm which can effectively detect and correct the cycle slips is described as well. The algorithm utilizes additional position information provided by the INS, and applies a statistical technique known as th cumulative-sun (CUSUM) test that is very sensitive to abrupt changes of mean values. Results of simulation studies and field tests indicate that the algorithms are performed pretty well, so that the accuracy and performance of the integrated system can be maintained, even if cycle slips exist in the raw GPS measurements.

• International Journal of Aeronautical and Space Sciences
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• 제11권2호
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• pp.69-79
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• 2010

This paper describes the experimental framework for the control system design and validation of a rotorcraft unmanned aerial vehicle (UAV). Our approach follows the general procedure of nonlinear modeling, linear controller design, nonlinear simulation and flight test but uses an indoor-installed multi-camera system, which can provide full 6-degree of freedom (DOF) navigation information with high accuracy, to overcome the limitation of an outdoor flight experiment. In addition, a 3-DOF flying mill is used for the performance validation of the attitude control, which considers the characteristics of the multi-rotor type rotorcraft UAV. Our framework is applied to the design and mathematical modeling of the control system for a quad-rotor UAV, which was selected as the test-bed vehicle, and the controller design using the classical proportional-integral-derivative control method is explained. The experimental results showed that the proposed approach can be viewed as a successful tool in developing the controller of new rotorcraft UAVs with reduced cost and time.

• Proceedings of the KSRS Conference
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• 대한원격탐사학회 2006년도 Proceedings of ISRS 2006 PORSEC Volume II
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• pp.651-654
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• 2006

Infrared channels of newly launched Japanese geostationary satellite, MTSAT-1R are compared with well calibrated MODIS/Terra infrared measurements at 3.7, 6.7, 11, 12 ${\mu}m$ bands. There are four steps in this intercalibration method: 1) data collection, 2) spectral response function correction, 3) data collocation, and 4) calculation of mean bias and conversion coefficients. In order to minimize the navigation error of MTSAT-1R, comparisons are made over the area in which the viewing angle of MTSAT-1R is less than 50$^{\circ}$. The calibration method was tested for August 2005 and within the 40$^{\circ}N$-40$^{\circ}S$, 100$^{\circ}$E-180$^{\circ}$E domain. The differences of spectral response functions were corrected through radiative transfer model simulation. Constructing collocated data differences in viewing geometry, observation time and space were taken into account. In order to avoid the radiance variation induced by cloud presence, clear-sky targets are selected as intercalibration target. The mean biases of 11, 12, 6.7, and 3.7 ${\mu}m$ bands are about -0.16, 0.36, 1.31, and -6.69 K, suggesting that accuracies of 3.7 ${\mu}m$ is questionable while other channels are comparable to MODIS

• Water Engineering Research
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• 제6권1호
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• pp.17-30
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• 2005

The bed evolution of the stretch of the River Rhine between km-812.5 and km-821.5 is characterised by general bed degradation as a result of the river training works and dredging activities of the last two centuries. The degradation of the river bed affects the water levels, and so the navigation conditions. To combat the erosion of the river bed with the aim to keep up the shipping traffic and to avoid the ecological system damages due to water level reductions, sand-gravel-mixtures were added to the river (so called artificial grain feeding activities). This paper presents the results of an application of a graded sediment transport model in order to study morpholodynamical characteristics due to artificial grain feeding activities in the river stretch. The finite element code TELEMAC2D was used for flow calculation by solving the 2D shallow water equation on non-structured grids. The sediment transport module SISYPHE has been developed for graded sediment transport using a multiple layer model. The needs to apply such graded sediment transport approaches to study morphological processes in the domain are discussed. The calculations have been carried out for the case of middle water flow and different size-fraction distributions. The results show that the grain feeding process could be well simulated by the model.

• Water for future
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• 제29권5호
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• pp.129-138
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• 1996

Loopnet model was developed to simulate unsteady flow in the looped network channel, considering change of the time and space. In this study, the looped solution algorithm was derived and the accuracy and stability of the model was tested. The Gulpo river system was used to calculate the flood water levels considering the hydraulic structures, tidal effect and inflow hydrographs. The result of the simulation showed that the accuracy and stability of this model was reliable. The change of flood water level of the Gulpo River system and the spillway section were not greatly affected by the operation water level of the navigation channel. But this analysis showed that roughness was one of the very important physical factor in changing flood water level.

• Journal of Institute of Control, Robotics and Systems
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• 제10권9호
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• pp.809-815
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• 2004

Researches on mobile robots have been mainly focused on the autonomous navigation and a lot of interesting results have been published so far. Most of applications are, however, fancy, unpractical, and very expensive to be used for 'UN-expensive' purpose. Well-known soccer robot may be an example of unpractical application. Un-autonomous mobile robot has, however, potential for a lot of practical applications. Especially, tele-operation of the un-autonomous mobile robot may the central issue of research. Major research topics for the tele-operated un-autonomous mobile robot include development of a force reflecting joystick for tele-operation and development of a sophisticated algorithm for smooth tele-operation. A new concept named fuzzy command smoothing algorithm is proposed in this paper in order to provide smooth motion to a tele-operated mobile robot. It gives smooth motion command to the mobile robot from possibly abrupt quick turn motion command of the joystick using fuzzy logic. Simulation results verify the usefulness of the proposed algorithm.