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항행 및 항법 : 시각 비동기 오차를 고려한 다중 DME 측위 적용 방안 연구
최광호 ( Kwang-ho Choi ),임준후 ( Joon-hoo Lim ),유원재 ( Won-jae Yoo ),소형민 ( Hyoung Min So ),이형근 ( Hyung-keun Lee ) 한국항행학회 2015 한국항행학회논문지 Vol.19 No.6
This paper introduces the time-misalignment error between multiple range measurements acquired by an onboard distance measuring equipment (DME) interrogator and proposes an efficient position determination method that can mitigate the negative effects of the time-misalignment error. The introduced time-misalignment error does not occur in conventional utilization of DME combined with VHF omnidirectional range (VOR). The proposed position determination method projects all the DME range measurements acquired irregularly during an interval to the same time instance where the aircraft position is determined. By the simulation utilizing a representative aircraft trajectory, it is shown that it is possible to estimate the horizontal position accurately without any changes of ground DME facilities.
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김민우 ( Min Woo Kim ),임준후 ( Joon Hoo Lim ),박제두 ( Je Doo Park ),김희성 ( Hee Sung Kim ),이형근 ( Hyung Keun Lee ) 한국항행학회 2012 한국항행학회논문지 Vol.16 No.3
It is well known that GPS cannot provide positioning results if sufficient number of visible satellites are not available. To overcome this weak point, attentions have been recently moved to hybrid positioning methods that augments GPS with other sensors. As an extension of hybrid positiong methods, this paper proposes a new method that combines GPS and vision sensor to improve availability and accuracy of land vehicle positioning. The proposed method does not require any external map information and can provide position solutions if more than 2 navigation satellites are visible. To evaluate the performance of the proposed method, an experiment result with real measurements is provided and a result shows that accumulated error of n-axis is almost 2.5meters and that of e-axis is almost 3meters in test section.
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RTK GPS/INS/스테레오 카메라를 활용한 3 차원 지도 기반 복합 항법의 공간 정보 생성 시스템
이유담(Yu Dam Lee),최광호(Kwang Ho Choi),임준후(Joon Hoo Lim),유원재(Won Jae Yoo),김라우(La Woo Kim),이형근(Hyung Keun Lee) 제어로봇시스템학회 2018 제어·로봇·시스템학회 논문지 Vol.24 No.8
This paper proposes a method to obtain absolute coordinates of considerably many point clouds on designated objects by integrating Global Positioning System (GPS), an Inertial Navigation System (INS), and a stereo camera. Compared with existing methods, the proposed method enables acquiring absolute coordinates instead of relative coordinates of point clouds with respect to a global reference frame. The GPS receiver and INS sensor are used for acquiring absolute coordinates and attitude parameters of the camera. The stereo camera is used to capture image pairs to compute relative coordinates of point clouds by feature-based image matching method. In addition, a Real-Time Kinematic (RTK) software is utilized to estimate accurate coordinates of the camera, and a time synchronization method between different systems to which sensors are connected is proposed. Based on the estimated absolute coordinates and attitude parameters of the camera, the relative coordinates of point clouds with respect to the camera are converted to the absolute coordinates.
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GAFAS 소프트웨어 패키지를 활용한 실시간 네트워크 RTK 시스템 설계 및 구현
김희성(Kim Hee Sung),이제영(Lee Je Young),최광호(Choi Kwang Ho),임준후(Lim Joon Hoo),이형근(Lee Hyung Keun) 한국측량학회 2014 한국측량학회 학술대회자료집 Vol.2014 No.4
넓은 영역에 분포된 다수의 사용자들에게 밀도 높은 위성항법 보정 데이터를 제공하여 cm 등급의 고정밀 측량을 가능하게하기 위하여 저밀도의 다중 기준국을 활용한 네트워크 RTK 시스템이 활용되고 있다. 네트워크 RTK 시스템의 인프라는 다수의 상시 기준국과 방송기로 구성된다. 특히 방송기는 RTK 보정 계수를 생성하여 유무선 네트워크를 경유하여 다수의 사용자들에게 전달하는 중추적인 역할을 수행한다. 본 논문에서는 국내에서 개발된 다목적 GNSS 소프트웨어 패키지인 GAFAS를 활용하여 다중 기준국 기반 네트워크 RTK 시스템의 인프라를 설계하고 구현하는 방법론을 소개한다. 실시간 연동 실험을 통하여 구현된 시스템의 기능 안정성과 성능을 분석한다. For cm-level high-accuracy surveying for many users located over wide area, a network RTK (Real-Time Kinematic) system is usually utilized to provide high-density GNSS (Global Navigation Satellite Systems) correction data based on low-density reference stations. An infrastructure for a network RTK system consists of multiple reference stations and a broadcaster. In this infrastructure, the broadcaster plays the central role to generate and transmit RTK correction parameters to many users over wired or wirelss network. In this paper, an efficient approach to construct a network RTK infrastructure is presented based a general-purpose GNSS software package named GAFAS (GNSS Algorithms For Accuracy and Safety). The functional stability and the performance of the proposed approach are analyzed by experiments based on real-time measurement streams.
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VRS 기반 GPS/Glonass RTK 측위에서 수신기 채널간 편이의 영향 분석
김희성(Hee-Sung Kim),이제영(Je-Young Lee),최광호(Kwang-Ho Choi),임준후(Joon-Hoo Lim),이형근(Hyung-Keun Lee) 대한공간정보학회 2014 한국공간정보학회 학술대회 Vol.2014 No.5
GPS/GLONASS 복합 RTK 측위에서 두 개의 이기종 수신기를 활용할 경우, GLONASS 수신기의 채널간 편이로 인해 올바른 미지정수 결정에 있어서 난점이 발생하게 되며, 이에 의해 측위의 정확도가 감소하게 된다. VRS 데이터를 활용하는 RTK 측위에 있어서도 수신기 채널간 편이는 미지정수 결정의 난점으로 작용하게 된다. 본 논문에서는 VRS 데이터를 활용하는 복합 RTK 측위에서 수신기 채널간 편이가 위치 추정과 미지정수 결정에 주는 영향을 분석한다. 이를 위해, 국토지리정보원 네트워크 RTK 시스템으로부터 수신된 VRS 데이터를 활용한다.
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항행 및 항법 : 기압 고도계를 이용한 GPS 수직오차 개선
김라우 ( La Woo Kim ),최광호 ( Kwang Ho Choi ),임준후 ( Joon Hoo Lim ),유원재 ( Won Jae Yoo ),이형근 ( Hyung Keun Lee ) 한국항행학회 2016 한국항행학회논문지 Vol.20 No.1
Accuracy of GPS (global positioning system) deteriorates dramatically or positioning is impossible in urban area occasionally since high-rise buildings and elevated roads make the reception of navigation signal very difficult so that number of visible satellites decreases. In these cases, vertical error usually becomes much larger than the horizontal error due to the intrinsic geometry of GPS satellites. To obtain more accurate and reliable height information, this paper proposes a hybrid method that combines GPS and a low-cost barometric altimeter. In the proposed method, the sea-level pressure and the sea-surface temperature are applied to the output of the altimeter. Next, the difference between the ellipsoid and the geoid is compensated. Finally, a simple Kalman filter combines the compensated barometric altitude and the GPS height. By static and car experiments, performance of the proposed method is evaluated. By the experiment results, it can be seen that the proposed method improves the altitude accuracy considerably.
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