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도심 비행환경을 고려한 제한된 위성항법신호 및 맵 연동 복합항법시스템 설계 및 성능분석
박광수(Gwangsoo Park),이병진(Byungjin Lee),김동균(Dong-Gyun Kim),이영재(Young Jae Lee),성상경(Sangkyung Sung) 제어로봇시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.5
This paper deals with the structure and the algorithm of a heterogeneous multi-sensor-based navigation system that considers both the satellite navigation outage and urban flight environment with three-dimensional (3D) map information. The proposed integrated system was designed to perform complementary navigation using six range sensors and raw data from visible satellites. To verify the performance of the proposed method, a simulation study that involved a 3D map and flight trajectories reflecting the actual flight environment was performed. The simulated results confirmed that the navigation error caused by insufficient range-to-map measurements was successfully suppressed Finally the validity of the proposed method was demonstrated using practical flight test results around practical urban buildings.
상용 3 차원 고속연산 엔진과 지도정보 연동 도심 환경의 GNSS 다중경로신호 제거 및 실시간 항법해 개선 연구
유강수(Kangsoo Ryu),박광수(Gwangsoo Park),이병진(Byungjin Lee),이영재(Young Jae Lee),성상경(Sangkyung Sung) 제어로봇시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.11
This paper presents a technique to improve the accuracy of navigation of a satellite navigation system in the urban environment by effectively detecting and removing multipath signals in real time using 3D map information. To improve the satellite navigation accuracy, we designed a system that can implement an effective real-time ray-tracing calculation with 3D high-speed computation engine. In this process, objective multipath satellites can be identified and separated by collecting the actual satellite data around a complex urban environment and around the partial shadow areas during the satellite navigation. The Unity3D Engine ensures a real-time and efficient computing performance in large sized complex map environments and multiple access situations. By adapting the functionality of Unity3D, the GPU computation for satellite visibility is efficiently implemented in a complex map environment, resulting into the implementation of a real-time ray tracing function, even in a mobile platform. Consequently, the computation time for detecting a multipath signal with one set of satellite data is shortened. In addition, the root mean square error in estimating the horizontal position using the GPS L1 pseudorange least square navigation solution, which eliminates multipath signals, is reduced.