• Journal of the Korea Institute of Military Science and Technology
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• v.11 no.4
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• pp.99-106
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• 2008

Digital Terrain Elevation Data is a set of numerical values that represent the heights of the terrain surface. Terrain has several properties. Among them, roughness is the most widely used one because it gives very useful information to land-based or land-reference platform. There are several ways to measure roughness of terrain. But each of them has own flaws. Moreover, it is not enough to represent the uniqueness of the terrain only by the roughness. We need another metric to measure the actual uniqueness. In this paper, we propose an improved method to measure essential characteristics, uniqueness, of terrain. It gives not only the roughness but also the unevenness. The combination of them makes up the uniqueness. And it can be applied even if there is no pre-planned path on the terrain.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.7
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• pp.629-639
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• 2016

Batch process TRN(Terrain Relative Navigation) using an altimeter is a technique to correct position by correlating a series of periodically measured terrain height profile and terrain height candidate profile of the DEM(Digital Elevation Map). However, it is generally known that the performance of TRN is degraded when measured terrain height profile and terrain height candidate profiles of the DEM are similar at hill or repetitive terrain. In this paper, area based terrain slope roughness index[11] is applied and area based terrain curvature roughness index which can detect similarity of terrain in ROI(Region Of Interest) is proposed to overcome this problem. Applying terrain roughness indexes to terrain relative navigation system of lunar lander, it is shown that TRN using area based terrain roughness results in improved performance compared to conventional trajectory based method through simulation.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.5 no.1
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• pp.43-48
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• 1987

The terrain is classified by the parameters-gradient, curuature, bump frequency and the ratio of the surface area to the corresponding planar area- that indicate the quantitative measurement of the terrain roughness, and the terrain is fitted to the polynomial function. According to the terrain roughness, the flat terrain, the gently undulating terrain, the rough terrain are classified The flat terrain, the gently undulating terrain and the rough terrain are fitted to the plane function, the 3th or 5th polynomial function and the 5th polynomial function, respectively.

• Atmosphere
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• v.25 no.4
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• pp.591-600
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• 2015

We have analyzed wind and eddy covariance data collected within roughness sublayer over sloping terrain. The study site is located on non-flat terrain with slopes in both south-north and east-west directions. The surface elevation change is smaller than the height of roughness element such as building and tree. This study examines the directional wind shear for data collected at three levels in the lowest 10 m in the roughness sublayer. The wind direction shear is caused by drag of roughness element and terrain-induced motions at this site. Small directional shear occurs when wind speed at 10 m is strong and wind direction at 10 m is southerly which is the same direction as upslope flow near surface at this site during daytime. Correlation between vertical shear of lateral momentum and lateral momentum flux is smaller over steeply sloped surface compared to mildly sloped surface and lateral momentum flux is not down-gradient over steeply sloped surface. Quadrant analysis shows that the relative contribution of four quadrants to momentum flux depends on both surface slope and wind direction shear.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.2
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• pp.131-139
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• 2013

In recent years alternative navigation system such as a DBRN (Data-Base Referenced Navigation) system using geophysical information is getting attention in the military navigation systems in advanced countries. Specifically TRN (Terrain Referenced Navigation) algorithm research is important because TRN system is a practical DBRN application in South Korea at present time. This paper presents an integrated navigation algorithm that combines a linear profile-based TRN and INS (Inertial Navigation System). We propose a correlation analysis method between TRN performance and terrain roughness index. Then we propose a conditional position update scheme that utilizes the position output of the conventional linear profile type TRN depending on the terrain roughness index. Performance of the proposed algorithm is verified through Monte Carlo computer simulations using the actual terrain database. The results show that the TRN/INS integrated algorithm, even when the initial INS error is present, overcomes the shortcomings of linear profile-based TRN and improves navigation performance.

• Journal of Korean Society for Atmospheric Environment
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• v.14 no.6
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• pp.643-650
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• 1998

Many atmospheric dispersion models have been based on the Gaussian distribution concept of plume spread. In application of Gaussian plume dispersion models, vertical dispersion coefficient 3 has been known as a sensitive variable. Vertical diffusivity K2 (=Oz2/2t) tends to increase with surface roughness, and the value of K3 in urban area is larger than that in rural area due to heat emission as well as increased roughness. Though Pasquill proposed a modification scheme for qz vs x system of Pasquill-Gifford under consideration of roughness effect in 1976, there appears not to be realistic reexamination on the modification scheme. In this study literature review on the effect of terrain or roughness on venical plume dispersion has been carried out in order to improve the prediction results of atmospheric pollution concentration. Again a few research objectives on vertical atmospheric dispersion in complex terrain were Proposed.

• Journal of the Korea Computer Graphics Society
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• v.17 no.2
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• pp.1-9
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• 2011

In recent researches, several LOD techniques are used for real-time visualization of large sized terrain data. However, during mesh simplification, geometry popping may occur in consecutive frames, because of the geometric error. We propose an efficient method for reducing the geometry popping using roughness map and bias map. A roughness map and a bias map are used to move vertices of the terrain mesh to appropriate position where they minimize the geometry errors. A roughness map and a bias map are represented as a texture suitable for GPU processing. Moving vertices using bias map is processed on the GPU, so the high-speed visualization can be possible.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.909-915
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• 2008

Recently, the interests in the development and application of unmaned robots are increasing in various fields including surveillance and reconnaissance, planet exploration, and disaster relief. Unmaned robots are usually controlled from distance using radio communications but they should be equipped with an autonomous travelling function to cope with unexpected terrains and obstacles. This means that they should be able to evaluate terrain's characteristics quantitatively using mounted sensors so as to traverse harsh natural terrains autonomously. For this purpose, this paper presents a method for extracting terrain information, that is, slope and roughness from elevation maps as a prior step of traversability analysis. Slope is extracted using the curve fitting based on the least squares method and roughness using three metrics and their weighted average. The effectiveness of the proposed method is verified on both a fractal map and the world model map of a real terrain.

• Journal of Korean Society for Atmospheric Environment
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• v.16 no.3
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• pp.237-246
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• 2000

An experimental study has been carried out using a rotating water channel in order to investigate the effect of surface roughness on the vertical dispersion of plume within boundary layer. Dispersion measurements of tracers released from two sources with different height at neutral conditions over various rough terrain ranging from rural to urban have been performed. Various values of roughness length were simulated by combining of 4 stream velocities and 3 roughness element conditions. Dispersion measurements have also been made for rough terrain where high buildings are locally concentrated. Values of $\sigma$z increase with roughness and this tendency appears to apply both cases of with and without locally concentrated high buildings. The comparisons of the Bowne's nomogram on $\sigma$2 vs x relationship and the measurements of $\sigma$2 with roughness show good accordance in $\sigma$2 distribution at stability D class over rural, suburban and urban terrain. For constant roughness length the $\sigma$2 values of plumes from lower source height are smaller than those of plumes from higher source at short downwind distance, but this relationship becomes reverse as distance increases. Crossing appears to be made before about 2km. The value of constant I in McMullen's equation $\sigma$2=exp [I+J(In x) + K(In x)2] appears to increase with roughness length, however, the relationships between other constants and roughness have been confirmed. The values of $\sigma$2 for various downwind distances, estimated by using an equation which is employed in ISC (Industrial Source Complex) dispersion model for areas where high buildings are locally assembled, are in accordance with measurements from water channel experiments.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.3
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• pp.307-314
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• 2017

Terrain referenced navigation(TRN) system is an attractive method for obtaining position based on terrain measurements and a terrain map. We focus on TRN systems based on the point mass filter(PMF) which is one of the recursive Bayesian method. In this paper, we propose two kinds of performance index for Bayesian filter. The proposed indices are based on entropy and mutual information from information theory. The first index measures roughness of terrain based on entropy of likelihood. The second index named by information gain, which is the mutual information between priori and posteriori distribution, is a quantity of information gained by updating measurement at each step. The proposed two indices are used to determine whether the solution from TRN is adequate for TRN/INS integration or not, and this scheme gives the performance improvement. Simulation result shows that the proposed indices are meaningful and the proposed algorithm performs better than normal TRN algorithm.