• Journal of Space Technology and Applications
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• v.3 no.1
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• pp.58-71
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• 2023

This paper describes a navigation system design for horizontal position estimation using inertial measurement sensors and celestial navigation. In space, stars are widely spread objects in the celestial sphere and have been used mainly to obtain attitude information through star observation. However, it is also possible to obtain information about the horizontal position with the altitude of the star. It is called celestial navigation which is the same principle that former navigators used to locate themselves while sailing on the sea. In particular, in deep space where GPS is not available, it is important to obtain information on the location by making use of stars that are relatively easy to observe. Therefore, we introduce a navigation system that can estimate horizontal position and design two types of systems, loosely coupled and tightly coupled depending on how the measurements are utilized. It is intended to help in the future design of navigation system using celestial navigation by simulation studies that not only verify whether the system correctly estimates horizontal position but also comparing the performance of loosely and tightly coupled methods.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.6
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• pp.1243-1251
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• 2017

When a Ship sails in the ocean, it is significant to find one's position for safe navigation. Most of ships have been using GPS navigation since its development after 1990's. The celestial navigation was used as the navigation method when sailing in the ocean, but time-consuming process such as complicated calculation and plotting the result on chart diminished its utilization. The thesis explains convenience and utilization of existing celestial navigation by resolving challenges it has. As a way of enhancing the celestial navigation, the author developed a software which incudes a numerical formula based on the previous calculation process. When a navigator inputs the altitude of sun, GHA and dec into computer while sailing, the position of the ship will be displayed as the coordinates. The improved method thus reaffirmed the usefulness of the celestial navigation and will greatly serve as means of navigation in the occurrence of distress. Abstract should be placed here.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.1
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• pp.72-78
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• 2007

Determination of the local vertical is not trivial for a moving vehicle and in general will require corrections for the Earth geophysical deflection. The vehicle's local vertical can be estimated by INS integration with initial alignment in SDINS(Strap Down INS) system. In general, the INS has drift error and it cause the performance degradation. In order to compensate the drift error, GPS/INS augmented system is widely used. And in the event that GPS is denied or unavailable, celestial navigation using star tracker can be a backup navigation system especially for the military purpose. In this celestial navigation system, the vehicle's position determination can be achieved using more than two star trackers, and the accuracy of position highly depends on accuracy of local vertical direction. Modern tilt sensors or accelerometers are sensitive to the direction of gravity to arc second(or better) precision. The local gravity provides the direction orthogonal to the geoid and, appropriately corrected, toward the center of the Earth. In this paper the relationship between direction of center of the Earth and actual gravity direction caused by geophysical deflection was analyzed by using precision orbit simulation program embedded the JGM-3 geoid model. And the result was verified and evaluated with mathematical gravity vector model derived from gravitational potential of the Earth. And also for application purpose, the performance variation of pure INS navigation system was analyzed by applying precise gravity model.

• Journal of the Korean Institute of Navigation
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• v.13 no.2
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• pp.1-21
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• 1989

The computer can be used to display a continuously updated list or plot of vessel position. The computer that accept input data from a number of different navigation systems, e.g., Loran , Satnav, Radar, Decca, Compass, Sextant with electrical output etc., can compute the position of a vessel relative to prerecorded objects. The celestial navigation system requires the computer to do not much calculation. Calculation are for trigonometeric, linear systems, finding roots of nonlinear equation and least square estimation etc, . In order to computerize the celestrial navigation system, these calculations must be programmed. The purpose of this thesis is to study the formulation, the design and the test of calculations of the coordinates of celestial bodies, the altitude correction and the solution of the navigational triangle processes.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1867-1870
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• 2005

The celestial navigation is one of alternatives to GPS system and can be used as a backup of GPS. In the celestial navigation system using more than two star trackers, the vehicle's ground position can be solved based on the star trackers' attitude information if the vehicle's local vertical or horizontal angle is given. In order to determine accurate ground position of flight vehicle, the high accurate local vertical angle measurement is one of the most important factors for navigation performance. In this paper, the Earth geophysical deflection was analyzed in the assumption of using the modern electrolyte tilt sensor as a local vertical sensor for celestial navigation system. According to the tilt sensor principle, the sensor measures the tilt angle from gravity direction which depends on the Earth geoid surface at a given position. In order to determine the local vertical angle from tilt sensor measurement, the relationship between the direction of gravity and the direction of the Earth center should be analyzed. Using a precision orbit determination software which includes the JGM-3 Earth geoid model, the direction of the Earth center and the direction of gravity are extracted and analyzed. Appling vector inner product and cross product to the both extracted vectors, the magnitude and phase of deflection angle between the direction of gravity and the direction of the Earth center are achieved successfully. And the result shows that the angle differences vary as a function of latitude and altitude. The maximum 0.094$^{circ}$angle difference occurs at 45$^{circ}$latitude in case of 1000 Km altitude condition.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.7 no.7
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• pp.1449-1455
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• 2003

This paper describes the development of an effective celestial learning system using virtual reality technology. Our system support a deep immersion and comfortable navigation by using HMD(Head Mounted Display) and 3 dimensional mouse. We make three dimensional celestial image dynamically with OpenGL and display the rendered image to HMD. Students can feel that they are on the space ship and navigate through the celestial body. During the navigation, students can get the information of each planet and solve given problems. Our system shows that virtual reality can be used as an effective tool for training and education.

• Journal of the Korean Institute of Navigation
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• v.9 no.2
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• pp.1-12
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• 1985

In order to computerize the sight reduction process completely, the coordinates of celestial bodies have to be calculated. The author calculates the equtorial coordinates of the sun and stars using formulae by computer programming. And they are compared with data from an nautical almanac. Generally, data based on formulae is slightly less accurate than those derived from an nautical almanac. In the case of calculating coordinates of the sun, maximum error of GHA is $0{'\\.}2$, and that of declination is $0{'\\.}1$.

• Journal of the Korean Institute of Navigation
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• v.12 no.1
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• pp.27-43
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• 1988

The tedious work, connected to the altitude correction, the computation of altitudes and aximuths and the plotting of the position lines, has been a objection to celestial position fixing method. But using a computer , the severe objection will be practically overruled. The author had already studied on computerization of the sight reduction partially. This paper is to confirm reliability of coordinate of the moon and the navigational planet calculated by computer programming and to suggest a method of calculating ship's position fixed by two position lines.

• Journal of the Korean Institute of Navigation
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• v.7 no.2
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• pp.1-45
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• 1983

This paper concerns the applications of the Kalman filter to navigation and the develment of computer programs of the navigational calculations. Methods to apply the Kalman filter to celestial fix, fix by cross bearing and cocked hat are proposed, and numerical simulations under various noise conditiions are conducted. The accuracy of the optimal positions obtained by the Kalman filter is compared with that of the fixed positiions by radial error method. In the case of celestial fix, an algorithm to estimate the optimal positions by using the linear Kalman filter is presented. The optimal positions by the Kalman filter are compared with the running fixes and with the most probable positions obtained from a single line of position. It is confirmed that the resutls of the proposed method are more accurate than the others. In practical piloting, bearings are generally measured intermittently and the measurement process is nonlinear. It is, therefore, difficult for us to apply the Kalman filter to fix by cross bearing. In order to be used in such an unfavorable case, the extended Kalman filter is revised and the aplicability of the revised extended Kalman filter is checked by numerical simulation under various noise conditions. In a cocked hat, an inside or outside fix is dependent only upon azimuth spread, if the error of each line of position is assumed to be equal both in magnitude and sign. A new technique of selecting a ship's position between an inside fix and an outside fix in a cocked hat by using fix determinant derived from the equation of three lines of position is also presented. The relations among the optimal position by Kalman filter, incentre (or excentre) and random error centtre of the cocked hat are discussed theoretically and the accuracy of the optimal position is compared with that of the others by numerical simulation.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2013.10a
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• pp.130-132
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• 2013

This paper presents an improvement for calculating method of astronomical vessel position with circle of equal altitude equation based on using a virtual object in sun and two stars observation. In addition, to enhance the accuracy of ship position achieved from solving linear matrix system, and surmount the disadvantages on rank deficient matrices situation, the authors used singular value decomposition (SVD) in least square method instead of normal equation and QR decomposition, so, the solution of matrix system will be available in all situation. As proposal algorithm, astronomical ship position will give more accuracy than previous methods.