• Journal of Advanced Navigation Technology
• /
• v.21 no.1
• /
• pp.138-144
• /
• 2017

A method for improving the integrated navigation performance in the INS/GPS navigation system by the considering that the condition that the geometric arrangement of the satellite is degraded due to limitation of the line of sight of the satellite such as geographic feature and GPS signal jamming is proposed. A variable covariance extended Kalman filter (VCEKF) that correlated to the measured covariance to the DOP of GPS is suggested. The navigation performance of integrated navigation system using EKF and VCEKF is analyzed by Monte-Carlo simulations. The result is verified that VCEKF has better estimation performance than EKF using fixed covariance on condition that DOP value is larger than the smaller value.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.13 no.10
• /
• pp.5095-5111
• /
• 2019

A multi-rotor Unmanned Aerial Vehicle (UAV) system is developed to solve the manhole cover detection problem for the infrastructure maintenance in the suburbs of big city. The visible light sensor is employed to collect the ground image data and a series of image processing and machine learning methods are used to detect the manhole cover. First, the image enhancement technique is employed to improve the imaging effect of visible light camera. An imaging environment perception method is used to increase the computation robustness: the blind Image Quality Evaluation Metrics (IQEMs) are used to percept the imaging environment and select the images which have a high imaging definition for the following computation. Because of its excellent processing effect the adaptive Multiple Scale Retinex (MSR) is used to enhance the imaging quality. Second, the Single Shot multi-box Detector (SSD) method is utilized to identify the manhole cover for its stable processing effect. Third, the spatial coordinate of manhole cover is also estimated from the ground image. The practical applications have verified the outdoor environment adaptability of proposed algorithm and the target detection correctness of proposed system. The detection accuracy can reach 99% and the positioning accuracy is about 0.7 meters.

• Journal of Advanced Navigation Technology
• /
• v.27 no.6
• /
• pp.841-848
• /
• 2023

The Klobuchar ionospheric model included in global positioning system (GPS) navigation messages provides ionospheric correction information to single-frequency users. This ionospheric model accuracy has a significant impact on the accuracy of navigation solutions. We examine the GPS navigation messages from 1993 to 2022 and analyze their accuracy, presence of coefficients and accuracy of the Klobuchar model. Early GPS navigation messages often did not include ionospheric data, and even when they did include ionospheric models, the accuracy was often quite low. From 2002, when the accuracy of the ionospheric model was stabilized, until 2022, the accuracy of the ionospheric model is analyzed by comparing it with the ionospheric model of the International GNSS Service (IGS). Changes in accuracy per day and per year and accuracy differences along geomagnetic latitude are analyzed.

• Journal of Advanced Navigation Technology
• /
• v.22 no.5
• /
• pp.400-408
• /
• 2018

Wide area augmentation system is a system that generates and transmits correction and Integrity information for use in wide area. Typical system is SBAS. In the United States, it operates under the name WAAS, EGNOS in Europe, MSAS in Japan, SDCM in Russia, GAGAN in India. it is developing Korean SBAS which named KASS by 2022 in Korea. SBAS is a standard System that is operated as civil aviation service base and set as international standards by ICAO. So the correction data can only is used for civil SPS receiver. In this paper, we discuss C1P1 DCB estimation which need to use SPS correction service for PPS receiver. Then we analyze C1P1 DCB correction effect under standalone Satellite Navigation and method to use PPS receiver under SPS DGPS. Finally we organize wide area augmentation system for PPS receiver and analysis performance.

• Journal of Advanced Navigation Technology
• /
• v.16 no.6
• /
• pp.927-934
• /
• 2012

In this paper, we present relative positioning algorithm for moving land vehicle using GPS, MEMS IMU and B-CDMA module. This algorithm does not calculate precise absolute position but calculates relative position directly, so additional infrastructure and I2V communication device are not required. Proposed algorithm has several steps. Firstly, unbiased relative position is calculated using pseudorange difference between two vehicles. Simultaneously, the algorithm estimates position of each vehicle using GPS/INS integration. Secondly, proposed algorithm performs filtering and finally estimates relative position and relative velocity. Using proposed algorithm, we can obtain more precise relative position for moving land vehicles with short time interval as IMU sensor has. The simulation is performed to evaluate this algorithm and the several field tests are performed with real time program and miniature vehicles for verifying performance of proposed algorithm.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.17 no.5
• /
• pp.200-209
• /
• 2018

This study proposed a method to select existing facilities as a landmark in order to reset accumulated errors of dead reckoning in a tunnel difficult to receive GNSS signals in automated driving. First, related standards and regulations were reviewed in order to survey 'variety' on shapes and installation locations as a feature of facilities. Second, 'recognition' on facilities was examined using image and Lidar sensors. Last, 'regularity' in terms of installation locations and intervals was surveyed through related references. The results of this study selected a fire fighting box / lamp (50m), an evacuation corridor lamp (300m), a lane control system (500m), a maximum / minimum speed limit sign and a jet fan as a candidate landmark to reset positioning errors. Based on those facilities, it was determined that error correction was possible. The results of this study are expected to be used in repositioning of automated driving vehicles in a tunnel.

• Journal of Astronomy and Space Sciences
• /
• v.20 no.4
• /
• pp.359-364
• /
• 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.

• Journal of Ocean Engineering and Technology
• /
• v.20 no.3 s.70
• /
• pp.15-23
• /
• 2006

On this study, realtime GPS technique and combination of GPS/GLONASS technique are used to extracting coastline. Th￡ object of coastline is Gwanganri beach located in Busan. The coastline is observed along the traces of coastline when high wave of scar by using digital map of 1:1,000 and at random time zone, coastline is surveyed along the boundary line that is contacting with sea water level. When the coastline of random time zone is converted by height of tide table, the coastline when high wave of scar and converted coastline are shown as coincident approximately.

• Journal of the Korean Society for Aviation and Aeronautics
• /
• v.20 no.3
• /
• pp.28-34
• /
• 2012

The recent transition to Performance Based Navigation in aviation enhances the accuracy of aircraft position, safety and efficiency in air traffic operations by using satellite-based navigation system such as GNSS. However, intentional interferences with GNSS signal as well as ones coming from natural phenomena such as solar storm increase. GNSS have very low power and therefore their signals are more susceptible to interferences than ground-based navigation signals. This paper introduces requirements of alternative positioning, navigation and timing(APNT) system and relevant technologies when the GNSS signals are not valid.

• Korean Journal of Remote Sensing
• /
• v.17 no.2
• /
• pp.121-129
• /
• 2001

A DEM(digital elevation model) is generated from a SPOT panchromatic stereo-pair using automated algorithms over a 8 km$\times$10 km region around Mokpo city. The aims are to continue the accuracy assessment over diverse conditions and to examine the applicability of a SPOT DEM for coastal disaster monitoring. The accuracy is assessed with respect to three reference data sets: 10 global positioning system records, 19 leveling data, and 1:50,000 topography map. The planimetric error is 10.6m r.m.s. and the elevation erroer ranges from 12.4m to 14.4m r.m.s.. The DEM accuracy of the flat Mokpo region is consistent with that over a mountainous area, which supports the robustness of the algorithms. It was found that coordinate transformation errors are significant at a few meters when using the data from leveling and topographic maps. The error budget is greater than the requirements for coastal disaster monitoring. Exploiting that a sub-scene is used, the affine transformation improves the accuracy by 50% during the camera modeling.