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무인자동차의 경로점 주행 시 장애물 회피를 위한 경로생성 알고리즘
임준혁(Jun-Hyuck Im),유승환(Seung-Hwan You),지규인(Gyu-In Jee),이달호(Dal-Ho Lee) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.8
In this paper, an effective path generation algorithm for obstacle avoidance producing small amount of steering action as possible is proposed. The proposed path generation algorithm can reduce unnecessary steering because of the small lateral changes in generated waypoints when UGV (Unmanned Ground Vehicle) encounters obstacles during its waypoint navigation. To verify this, the proposed algorithm and A<SUP>*</SUP> algorithm are analyzed through the simulation. The proposed algorithm shows good performance in terms of lateral changes in the generated waypoint, steering changes of the vehicle while driving and execution speed of the algorithm. Especially, due to the fast execution speed of the algorithm, the obstacles that encounter suddenly in front of the vehicle within short range can be avoided. This algorithm consider the waypoint navigation only. Therefore, in certain situations, the algorithm may generate the wrong path. In this case, a general path generation algorithm like A<SUP>*</SUP> is used instead. However, these special cases happen very rare during the vehicle waypoint navigation, so the proposed algorithm can be applied to most of the waypoint navigation for the unmanned ground vehicle.
GPS 교란 환경에서 벡터추적루프 기반 수신기 성능평가
송종화(Jong-Hwa Song),임성혁(Sung-Hyuck Im),지규인(Gyu-In Jee) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.2
In this paper, we represent the implementation and performance analysis of vector tracking loop based GPS receiver for jamming environment. The vector tracking loop navigation performance is compared by simulation with conventional tracking loop. The simulation results shows that vector tracking loop is more robust than conventional tracking loop in jamming environment. The vector tracking loop can gain 2dB in jamming performance capability over a conventional GPS receiver. Also, Anti-jamming performance of INS Doppler aiding and deep integration method are compared.
지규인(Gyu-In Jee) 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
In this paper, we derive the optimal input-constrained control law which minimizes predictive control objective function subject to input constraints. In order to obtain the closed form of control law, three suboptimal methods are proposed and evaluated by simulation.
SIMULINK를 이용한 단채널 GPS/GALILEO 시뮬레이터 구현
염인철(In-Cheol Yeom),임성혁(Sung-Hyuck Im),지규인(Gyu-In Jee),고선준(Sun-jun Ko) 한국항공우주학회 2008 韓國航空宇宙學會誌 Vol.36 No.6
새로운 위성항법시스템들이 등장하면서 GNSS 위성항법수신기, 보강시스템, 통합항법시스템 분야 등 새로운 위성항법에 대응하기 위한 연구 개발이 많이 필요하게 되었다. 위성항법 신호 생성과 전송 그리고 수신기 신호처리에 관련된 시뮬레이터의 개발은 새로운 위성항법에 대한 기술을 파악하고 핵심기술을 연구 개발할 수 있는 좋은 방법이다. 본 연구에서는 현재 구체적인 신호 규격이 결정되어 공개되어 있는 GPS와 Galileo 위성항법시스템의 시뮬레이터를 IF(intermediate frequency) 신호레벨에서 개발하였다. Recently, research on GNSS signal receiver, aiding system and integrated navigation system approaching to the new satellite navigation system is needed. It it necessary to develop the GNSS simulator not only to understand the new satellite navigation system but also to develop the core technology about the system In this paper, the simulator of the GPS and Galileo satellite nagivation is developed in IF(intermediate frequency) signal level.
도심에서 수직구조물 랜드마크를 이용한 3D LIDAR 기반 차량정밀측위
임준혁(Jun-Hyuck Im),임성혁(Sung-Hyuck Im),송종화(Jong-Hwa Song),지규인(Gyu-In Jee) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.12
Tall buildings in urban areas obstruct the GPS satellite signal reception, thus the GPS position accuracy can be very poor. However, buildings in urban areas can be used to generate a landmark map for precise vehicle localization. This map’s information can be represented in various forms. We focused on the outer wall of a building that was erected vertically from the ground and almost flat. Therefore, vertical corners that meet the vertical planes are present everywhere in urban areas. These corners can provide very good landmarks and can be extracted using LIDAR. Additionally, traffic signs can be used for localization. The traffic signs are present in the road and reflect light well. Therefore, traffic signs can be clearly distinguished from other structures using LIDAR reflectivity. In this paper, we used building’s vertical corner and traffic signs for vehicle localization in an urban area. In addition, we proposed a vertical structure map with information for vertical corners and traffic signs. The experiment was carried out in the Gangnam area of Seoul, South Korea. The traveling distance was approximately 4.5 km and the maximum traveling speed was approximately 80 km/h. The lateral and longitudinal RMS position errors were 0.118 m and 0.231 m, respectively.
GPS/Galileo 통합항법알고리즘 구현 및 시각 및 좌표계차이에 따른 영향분석
송종화(Jong-Hwa Song),지규인(Gyu-In Jee),정성균(Seong Kyun Jeong),이상욱(Sang Uk Lee),김재훈(Jae Hoon Kim) 한국항공우주학회 2008 韓國航空宇宙學會誌 Vol.36 No.2
Galileo 위성항법시스템은 GPS에 대응하기 위해 EU에서 구축중인 시스템으로 실험위성 GIOVE-A의 테스트가 끝났으며 두 번째 테스트 위성 GIOVE-B가 발사 예정이다. GPS와 Galileo 신호 모두 이용할 경우 도심지나 숲과 같은 음영지역에서도 가시위성수의 증가로 위치해를 구할 수 있고 보다 정확한 위치해를 얻을 수 있다. GPS와 Galileo 위성항법시스템은 독자적인 시각과 좌표체계를 갖추고 있으며 항법해를 계산을 위해서 서로 다른 오차 모델을 이용한다. 본 논문에서는 각 위성항법시스템의 오차 모델과 시각 및 좌표체계의 차이에 대해서 분석하였으며 이를 바탕으로 GPS와 Galileo 통합하는 항법 알고리즘을 구현하였다. 시뮬레이션을 통하여 시각, 좌표 시스템의 불일치에 의한 항법오차를 분석하고 가시위성수와 Dilution of Precision(DOP)를 계산하여 통합항법알고리즘의 성능을 검증하였다. Galileo is the Europe's global navigation satellite system corresponding to the GPS. The GIOVE-A test experiment has been finished and the second test satellite GIOVE-B will be launched soon. The integration of GPS and Galileo lead an increase of visible satellite number. We can obtain an improved navigation performance in signal blocked area such as urban or forest. GPS and Galileo have each time-coordinate system and use the different error model to calculate the navigation solution. In this paper, we studied on GPS and Galileo channel error model and time-coordinate system. Using this result, we implement the integrated navigation algorithm. In simulation, we analyzed the navigation error caused by time and coordinate disagreement and verified performance of integrated navigation algorithm in terms of visible satellite number, DOP(Dilution of Pression) and position error.
송종화(Jong-Hwa Song),지규인(Gyu-In Jee),김광훈(Kwang-Hoon Kim) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.9
The GPS tracking loop consists of three parts in general: discriminator, loop filter and DCO (Digitally Controlled Oscillator). The loop filter is the main part of the tracking loop designed to ensure a good tracking performance. Generally, the loop filter is designed using classical PI(Proportional Integral) control. Although the carrier Doppler and code Doppler are generated by the same relative movement between the satellite and the user, often, the loop filters for each tracking loop are designed separately and independently. Sometimes, they are used in a combined manner such as carrier aided code tracking, FLL assisted PLL, etc. For better GPS signal tracking, we need to design the FLL/PLL/DLL altogether optimally. The purpose of this paper is to design a GPS receiver tracking loop based on the Kalman filter in a combined manner. Also, the proposed GPS receiver tracking loop is compared with a conventional tracking loop in terms of the transfer function and the DCO input.. This paper shows that conventional tracking loop is equal to the Kalman filter based tracking loop.
TMBOC과 CBOC 신호에 적합한 모호성이 낮은 다중경로 오차완화 기법
유승수(Seungsoo Yoo),지규인(Gyu-In Jee),김선용(Sun Yong Kim) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.10
One of the most significant errors in the pseudo-range measurement performance of GNSSes (Global Navigation Satellite Systems) is their multipath error for high-precision applications. Several schemes to mitigate this error have been studied. Most of them, however, have been focused on the GPS (Global Positioning System) L1 C/A (Coarse/Acquisition) signal that was designed in the 1970s and is still being used for civil navigation. Recently, several modernized signals that were especially conceived to more significantly mitigate multipath errors have been introduced, such as Time Multiplexed and Composite Binary Offset Carrier (TMBOC and CBOC, respectively) signals. Despite this advantage, however, a problem remains with the use of TMBOC and CBOC modulations: the ambiguity of BOC (Binary Offset Carrier)-modulated signal tracking. In this paper, a novel unambiguous multipath error mitigation scheme for these modernized signals is proposed. The proposed scheme has the same complexity as HRCs (High Resolution Correlators) but with low ambiguity. The simulation results showed that the proposed scheme outperformed or performed at par with the HRC in terms of their multipath error envelopes and running averages in the static and statistical channel models. The ranging error derived by the mean multipath error of the proposed scheme was below 1.8 meters in an urban area in the statistical channel model.