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도심비행환경 맵을 이용한 복합항법 성능 검증을 위한 기반 설계
고은학,유강수,성상경 대한전기학회 2020 전기학회논문지 Vol.69 No.7
This paper presents PILS using Unity3D, a game development tool, for verification of navigation performance in various environments. The navigation performed with PILS is a fusion/complex navigation using GPS navigation and 3D GIS maps and multiple distance sensors in urban environments where satellite signals are not reliable. Accordingly, the topography and the building are constituted by utilizing the Unity3D program, and the virtual data are created by modeling sensors, vehicles, and vehicle’s guidance and controller. To create a more realistic simulation, actual sensor noise characteristics, and actual flight maneuvers are analyzed. Data are transferred to a navigation module used for actual flight by using serial communication, a navigation solution obtained from the navigation module is plotted in GCS. Solutions are transferred to a PC again where data are generated and finally compared with a true value in real-time.
도심비행환경 3D GIS맵을 이용한 복합항법 성능 검증을 위한 Unity3D기반 PILS 설계
고은학(Eun-Hak Koh),유강수(Kang-soo Ryu),성상경(Sangkyung Sung) 대한전기학회 2020 전기학회논문지 Vol.69 No.7
This paper presents PILS using Unity3D, a game development tool, for verification of navigation performance in various environments. The navigation performed with PILS is a fusion/complex navigation using GPS navigation and 3D GIS maps and multiple distance sensors in urban environments where satellite signals are not reliable. Accordingly, the topography and the building are constituted by utilizing the Unity3D program, and the virtual data are created by modeling sensors, vehicles, and vehicle’s guidance and controller. To create a more realistic simulation, actual sensor noise characteristics, and actual flight maneuvers are analyzed. Data are transferred to a navigation module used for actual flight by using serial communication, a navigation solution obtained from the navigation module is plotted in GCS. Solutions are transferred to a PC again where data are generated and finally compared with a true value in real-time.
딥러닝 기반 라이다 오도메트리를 활용한라이다/관성 복합 항법 알고리즘 연구
손현진,고은학,성상경 제어·로봇·시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.9
As lidar has become one of the primary sensors for autonomous robots, interest in lidar-based sensor fusion and navigation has increased. In this paper, we propose an integrated navigation algorithm that combines an inertial navigation system and deep learning-based lidar odometry. We first developed a deep learning neural network for lidar odometry estimation. The network can estimate the relative pose by using consecutive lidar scans as an input. We then designed an extended Kalman filter that uses inertial sensors for the prediction step and lidar odometry for the correction step. To demonstrate the estimation accuracy of the algorithm, we used both the KITTI dataset and a drone flight simulator. .
성동규,이재우,고은학,김주찬,남용현,이정호,이재승,이찬빈,전영배,최철균,이재우 한국항공운항학회 2018 한국항공운항학회지 Vol.26 No.4
A compound drone that combines a fixed wing and a rotary wing is an aircraft that can take off and landing vertically, and can increase flight time and fly faster with fixed wings. The compound drones are divided into many types depending on the method of adding the thrust vectoring or the lift fan and the position of the rotor. In this study, we designed and fabricated a composite drone with four V-TOL motors in a fixed-wing, and assigned missions to the aviation body, hence judged mission accuracy using the actual flight test. The design process and the mission evaluation process employed in this study can be utilized on the development of various unmanned aerial vehicle.
김수진,김동균,고은학,이영재,성상경 한국항공우주학회 2021 International Journal of Aeronautical and Space Sc Vol.22 No.3
This paper presents methods of mode transition in the integrated navigation based on selective sensor configurations to ensure continuous and reliable navigation performance in urban flight environments such as high-rise buildings. First, this paper characterizes candidate techniques using conventional DOP and error covariance for quantitative analysis of the navigation mode transition. Then, this paper proposes a new hybrid logic that reflects the deployment of heterogeneous sensor measurements considering characteristics of the urban flight environment. Through the proposed mode transition algorithm, enhanced estimation performance is achieved between GPS/INS integrated navigation and map-aided Range/INS integrated navigation. Finally, simulation and practical flight experiments under the urban flight environment demonstrated the suggested improvement of navigation performance.