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김민우,김정래,허문범,Kim, Minwoo,Kim, Jeongrae,Heo, Moonbeom 항공우주시스템공학회 2010 항공우주시스템공학회지 Vol.4 No.1
The accuracy and integrity of global navigation satellite systems (GNSS) can be improved by using GNSS augmentation systems. Large ionospheric spatial gradient, during ionosphere storm, is a major threat for using GNSS augmentation systems by increasing the spatial decorrelation between a reference system and users. Ionosphere decorrelation behavior can be analyzed by using dual frequency GPS data. GNSS receivers have their own biases, called inter-frequency bias (IFB) between dual(P1 and P2) frequencies and they must be accurately estimated before computing ionosphere delays. GPS network data in Korea is used to compute each receiver's IFB, and their estimation accuracy and variability are analyzed. IFB estimation methodology to apply for ionosphere gradient analysis is discussed.
강우용(Wooyong Kang),이은성(Eunsung Lee Hong),허문범(Moonbeom Heo),남기욱(Giwook Nam) 한국자동차공학회 2008 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
The satellite navigation system which is represented with GPS, it uses the satellite of space and to provide a accurate user position and time information. It is applied various application field, specially the vehicle navigation application widely used. But, precise driving is impossible due to the error of GPS. So, a new method introduced to determine user position of precise car navigation using GPS carrier phase measurements. In this paper the presented equation is explained and the results of car experiment are shown.
이민수(Min Su Lee),주호진(Ho Jin Ju),박찬국(Chan Gook Park),허문범(Moonbeom Heo) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.7
This paper presents a step length estimation algorithm for Pedestrian Dead Reckoning using linear calibrated ZUPT (zero velocity update) with a foot mounted IMU. The IMU consists of 3 axis accelerometer, gyro and magnetometer. Attitude of IMU is estimated using an inertial navigation algorithm. To increase accuracy of step length estimation algorithm, we propose a stance detection algorithm and an enhanced ZUPT. The enhanced ZUPT calculates firefighter`s step length considering velocity error caused by sensor bias during one step. This algorithm also works efficiently at various motions, such as crawling, sideways and stair stepping. Through experiments, the step length estimation performance of the proposed algorithm is verified.
사용자 위치해 정확도 향상을 위한 가상위성 및 가상거리측정값 생성
송충원(Choongwon Song),안종선(Jongsun Ahn),최문석(Moonseok Choi),장진혁(JinHyeok Jang),허문범(MoonBeom Heo),이영재(Young Jae Lee) 한국항공우주학회 2017 韓國航空宇宙學會誌 Vol.45 No.9
위성항법시스템 (GNSS: Global Navigation Satellite System)으로 계산되는 위치 정확도는 위성 의사거리 (Pseudo-Range) 측정값 정확도와 DOP (Dilution of Precision) 으로 표현되는 위성의 배치관계를 통해 결정된다. 위성의 의사거리 측정값은 위성 시계, 궤도, 전리층, 대류층, 다중경로 등 여러 요인에 의해 오차가 발생하게 되며, 사용자 의사거리정확도를 향상을 위해서는 정확한 의사거리 측정값이 필요하다. 반면, 위성의 배치의 경우, 사용자의 수신환경에 따라 위치 정확도가 달라진다. 예를 들어, 고층 빌딩이 많은 도심의 경우에는 위성전파 차단의 위험이 많아 가시위성의 수가 감소하고 개활지에 비해 상대적으로 양호한 DOP을 가지기 어렵다. 본 논문은 가상위성 (Virtual Satellite)을 통해 DOP 성능 개선과 의미있는 가상거리측정값 (VRM: Virtual Range Measurement) 정확도를 확보하여, 위치 정확도 향상 시키는 방법에 대해 연구하였다. 그 결과 적절한 가상위성배치와 정확한 가상 거리측정값을 이용하면 수직위치 정확도의 개선 효과를 얻을 수 있었다. GNSS (Global Navigation Satellite System) Position Accuracy depends on pseudo-range measurement and DOP (Dilution Of Precision) which indicates about navigation satellite geometry. Pseudo-Range has many error sources such as satellite clock, orbit, ionosphere, troposphere, multipath and so on. For improvement of the accuracy, user can use corrected pseudo-range in DGPS (Differential Global Positioning System), which is one of the relative positioning methods. But, stationary station is needed in relative positioning. In case of DOP, Signal reception environment is important. If receiver sets in the center of city, it could be interrupted reception by buildings. This environment leads to decrease the number of visible satellites and to increase DOP. This paper proposes the concept of GNSS positioning with virtual satellites which have usable VRM (Virtual Range Measurement). Via virtual satellites and VRM, users could get an accurate position. Especially referred virtual satellites constellation has an effect on vertical error.
임성혁(Im, Sunghyuck),안종선(An, Jongseon),손은성(Son, Eunseong),이상우(Lee, Sangwoo),허문범(Heo, Moonbeom) 한국항공우주연구원 2017 항공우주산업기술동향 Vol.15 No.1
자동차는 인간의 삶에서 필수적인 도구이다. 하지만 복잡한 교통으로 인해 자동차를 운전하기 위해 소비하는 시간과 노령화에 따른 노인운전자의 증가는 편의와 안전이라는 부분에서 자동차의 효용성을 저하시키고 안전도를 위협하고 있다. 이를 극복하기 위해 자율주행자동차 기술이 개발되고 있고 일부 자율주행단계는 상용화되고 있는 상황이다. 본 논문에서는 현재 자율주행 및 위성항법 기술 현황에 대해 설명하고 자율주행에의 위성항법 적용사례에 대해 서술하였다. With the need of transport and mobilities, cities have evolved to be more and more automobile dependent. Although such changes have made our lives more comfortable, the safety issue is now raising new questions due to the significant increase of elderly drivers and traffic congestion. To overcome these problems, autonomous vehicle technologies are being introduced and emphasized, and efforts to adopt the innovative technologies in the industry and commercial sectors are also increasing. In this paper, we review the current status of autonomous vehicle technology and satellite navigation technology, along with examples where the satellite navigation is applied for autonomous vehicles.