• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2018.11a
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• pp.348-349
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• 2018

한국형 e-Navigation의 '예도선 지원 서비스'는 국내 항만에서 예도선에 필요한 각종 정보를 제공하는 서비스이다. 최근 국내 도선 시행 횟수가 꾸준히 증가하고 있으며, 현재 우리나라에서는 도선 및 예선의 안전을 위한 별도의 정보를 제공하는 서비스가 존재하지 않아, 예도선을 위한 정보시스템의 구축이 필요하다. 본 연구에서는, '예도선 지원 서비스'에 대한 설명과 각각의 기능 및 기대효과를 제시한다. 본 연구에서 개발되는 서비스를 통해, 국내 예도선의 효율성을 향상시키고, 안정성을 확보하는데 기여할 것으로 기대한다.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2019.11a
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• pp.73-74
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• 2019

We are developing a receiver that integrates eLoran and GNSS for navigation. The receiver shows similar performance to LORADD receiver in single navigation using Loran-C. In the case of GNSS navigation, the receiver uses GPS and GLONASS or GPS and BDS, so it has better navigation performance than the LORADD receiver using only GPS. Therefore, it is possible to expect better performance than the LORADD receiver in the integrated navigation which can complete the time synchronization between the chains later and obtaion the TOA. Loran data channel decoding function is implemented for eLoran navigation and the function of eliminating error factors such as interference is being implemented.

• Journal of Positioning, Navigation, and Timing
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• v.2 no.2
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• pp.115-121
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• 2013

For the auto-landing operation of an air vehicle, the possibility of auto-landing operation should be first evaluated by testing the navigation performance through a flight test. In general, navigation performance is tested by analyzing north/east/down (NED) errors relative to reference equipment whose precision is about 8~10 times higher than that of a navigation system. However, to evaluate the auto-landing operation of an air vehicle, whether the air vehicle approaches a glide path aligned with the runway, within a specific error, needs to be examined rather than examining the north/east errors of the navigation system. Therefore, the longitudinal/lateral errors of air vehicle heading need to be analyzed. In this study, a method for analyzing the longitudinal/lateral errors of a navigation system was proposed as the navigation performance test method for evaluating the safety during the auto-landing of an air vehicle. Also, flight tests were performed six times, and the safety of auto-landing was examined by analyzing the performance using the proposed method.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2019.05a
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• pp.14-15
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• 2019

Pilotage & Tugs Assistance Service in Korean e-Navigation provides port monitoring which presents features of port by utilizing dynamic and static information of vessel, weather data, water way information and etc. It also supports process related to pilotage and tugs according to each user types. This study suggests how this services can be utilized after practicalization and describes expectation from applying this utilization. The Pilotage & Tugs Assistance Service is expected to be platform for Pilotage & Tug by further research and development.

• Journal of Ocean Engineering and Technology
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• v.30 no.5
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• pp.367-373
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• 2016

This paper describes the development of a navigation HILS (hardware in the loop simulation) system for an integrated navigation performance analysis of a large diameter unmanned underwater vehicle (LDUUV). The HILS system was used for the performance analysis of the LDUUV. When a conventional HILS system is used, it is not possible to calculate the velocity and position using an inertial navigation system (INS). To cope with this problem, an external acceleration was generated. To evaluate the proposed method, we compare the results of a Monte Carlo simulation and navigation HILS experiment.

• Journal of Mechanical Science and Technology
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• v.19 no.8
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• pp.1529-1543
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• 2005

Recently an unmanned aerial vehicle (UAV) has been widely used for military and civil applications. The role of a navigation system in the UAV is to provide navigation data to the flight control computer (FCC) for guidance and control. Since performance of the FCC is highly reliant on the navigation data, a fault in the navigation system may lead to a disastrous failure of the whole UAV. Therefore, the navigation system should possess a fault detection and isolation (FDI) algorithm. This paper proposes an attitude determination GPS/INS integrated navigation system with an FDI algorithm for a UAV. Hardware for the proposed navigation system has been developed. The developed hardware comprises a commercial inertial measurement unit (IMU) and the integrated navigation package (INP) which includes an attitude determination GPS (ADGPS) receiver and a navigation computer unit (NCU). The navigation algorithm was implemented in a real-time operating system with a multi-tasking structure. To evaluate performance of the proposed navigation system, a flight test has been performed using a small aircraft. The test results show that the proposed navigation system can give accurate navigation results even in a high dynamic environment.

• Journal of Ocean Engineering and Technology
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• v.27 no.2
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• pp.93-99
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• 2013

This paper describes a robust algorithm for an integrated underwater navigation system based on VKF (velocity Kalman filter). The proposed approach relies on a VKF, augmented by the altitude from an echo-sounder-based switching architecture to yield robust performance, even when DVL (Doppler velocity log) exceeds the measurement range and the measured value cannot be valid. The proposed approach relies on three parts: 1) PINS (pure inertial navigation system), 2) VKF design, and 3) VKF-aided integrated navigation filter design. To evaluate the proposed method, we compare the results of the VKF-aided navigation system with the simulation result from a PINS and conventional INS-DVL method.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2011.06a
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• pp.144-146
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• 2011

VTS 항해의 특징은 동적복잡계의 특성을 보인다는 점이다. 자율적인 행위자들인 여러 선박이 서로 영향을 끼치며 상호작용하기 때문에 불확실성이 지배하게 된다. 이러한 불확실성으로 인한 위험을 극복하기 위한 방안으로 본 연구에서는 협력항해(co-navigation)이라는 개념을 중심으로 논의를 전개하였다. 본질적으로 협력항해는 수많은 상황판단과 의사결정들의 집합체이기 때문에 우선 개별 선박들의 상황판단이 어떻게 이루어지는가를 연구하는 것으로부터 출발하여야 한다. 따라서 본고에서는 항해에서 있어서의 상황자각이 어떻게 기능하는지 알아보고, 개인적인 상황판단에서 VTS 전체 차원의 최종 의사결정이 이루어지는 전 과정을 6단계로 세분하여 논의를 전개하였다. 이렇게 세분한 각 단계에서 양질의 인지과업이 이루어지도록 돕고, 이때 저지르게 되는 실수를 수정할 수 있도록 여유시간을 확보할 수 있도록 함으로써 궁극적으로 항해위험을 줄일 수 있다는 것을 이번 연구에서 밝히고자 하였다.

• Journal of Positioning, Navigation, and Timing
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• v.7 no.2
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• pp.91-103
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• 2018

Conventional inertial measurement units cannot be used in the spinning vehicle with high rotation rate due to gyro's narrow operation range. By the way, angular acceleration can be measured using the accelerometer array distributed in the vehicle. This paper derives a mechanization for the gyro-free INS in the navigation frame, and proposes a gyro-free INS algorithm based on the derived mechanization. In addition, the proposed algorithm is used to estimate angular velocity, attitude, velocity, and position of a spinning vehicle with high rotation rate. A MATLAB-based software platform is configured in order to show validation of the proposed algorithm. The reference trajectory of a spinning vehicle at 3 round per second, 30 round per second are set up, and the outputs of accelerometer are generated when triads of accelerometer are located at the origin and all the axes. Navigation results of the proposed algorithm for the generated output are presented. The results show that the proposed navigation algorithm can be applied to the spinning vehicle with high rotation rate.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.774-781
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• 2013

The purpose of this paper is to design a DVL-RPM based VKF (Velocity Kalman Filter) design for a performance improvement underwater integrated navigation system. The proposed approach relies on a VKF, augmented by a altitude from Echo-sounder based switching architecture to yield robust performance, even when DVL (Doppler Velocity Log) exceeds the measurement range and the measured value is unable to be valid. The proposed approach relies on two parts: 1) Indirect feedback navigation Kalman filter design, 2) VKF design. To evaluate proposed method, we compare the results of the VKF aided navigation system with simulation result from a PINS (Pure Inertial Navigation System) and conventional INS-DVL method. Simulations illustrate the effectiveness of the underwater navigation system assisted by the additional DVL-RPM based VKF in underwater environment.