After a series of intentional Global Positioning System (GPS) jamming attacks impacted a large area of South Korea, the Ministry of Oceans and Fisheries of South Korea considers long-range navigation (Loran) and enhanced Loran (eLoran) as a maritime backup navigation system. Despite its robustness to signal jamming, the positioning accuracy of Loran/eLoran is lower than that of GPS. Because the signal delay due to the land path, which is called the additional secondary factor (ASF), is the largest unknown component of Loran/eLoran, it is necessary to account for temporal and spatial ASF errors to ensure high accuracy. The generation of ASF maps based on ASF survey data in a service area is the most convenient way to mitigate spatial ASF error, but the quality of ASF maps depends on the applied interpolation algorithm. It is desirable to generate high-quality ASF maps based on ASF measurements at only a few survey points, because extensive ASF surveys are expensive and time-consuming and require considerable effort. This paper proposes kriging methods for satisfying this objective and shows their superior performance during a field test in Incheon, Korea. In particular, universal kriging with the proposed drift model showed a better performance than linear interpolation, inverse distance weighing, and ordinary kriging when the test vehicle was close to a coastline. The positioning accuracy with the ASF maps generated by the proposed universal kriging along a 5-km route during the field test was 25.24 m (95%). The land vehicle used for the test experienced significant signal-to-noise ratio (SNR) degradation owing to the noise caused by its engine. A vessel without such SNR degradation is expected to achieve higher accuracy.

Intentional high-power GPS jamming is a significant threat for ships in the South Korean waters and has occurred multiple times in recent years. The South Korean government intends to utilize the existing Long Range Navigation (Loran) infrastructure to provide a backup navigation capability to maritime users. However, the observed accuracy of a conventional Loran positioning fix during a field test in Incheon, Korea, was 592.88 m, far from the 20 m accuracy that the South Korean government tries to provide. The largest error source for Loran is the additional secondary factor (ASF) delay. A conventional time of flight (TOF)-based ASF correction is not applicable in Northeast Asia because several transmitters are not synchronized to Universal Time Coordinated (UTC). Thus, we propose a time difference of arrival (TDOA)-based ASF correction method that is applicable to the existing Loran signals in Northeast Asia. The demonstrated accuracy with this correction was 32.12 m when using a single Loran chain for positioning. In order to utilize the full capability of the observed signals from the five transmitters of two Loran chains in the region, we further propose a novel multi-chain-based Loran positioning algorithm. By applying this algorithm together with the ASF correction method, we achieved a 15.32 m accuracy with 100% position availability. This result shows the potential of the existing Loran transmitters in Northeast Asia to provide a reliable and accurate backup maritime navigation service.

Curb detection and localization systems constitute an important aspect of environmental recognition systems of autonomous driving vehicles. This is because detecting curbs can provide information about the boundary of a road, which can be used as a safety system to prevent unexpected intrusions into pedestrian walkways. Moreover, curb detection and localization systems enable the autonomous vehicle to recognize the surrounding environment and the lane in which the vehicle is driving. Most existing curb detection and localization systems use multichannel light detection and ranging (lidar) as a primary sensor. However, although lidar demonstrates high performance, it is too expensive to be used for commercial vehicles. In this paper, we use ultrasonic sensors to implement a practical, low-cost curb detection and localization system. To compensate for the relatively lower performance of ultrasonic sensors as compared to other higher-cost sensors, we used multiple ultrasonic sensors and applied a series of novel processing algorithms that overcome the limitations of a single ultrasonic sensor and conventional algorithms. The proposed algorithms consisted of a ground reflection elimination filter, a measurement reliability calculation, and distance estimation algorithms corresponding to the reliability of the obtained measurements. The performance of the proposed processing algorithms was demonstrated by a field test under four representative curb scenarios. The availability of reliable distance estimates from the proposed methods with three ultrasonic sensors was significantly higher than that from the other methods, e.g., 92.08% vs. 66.34%, when the test vehicle passed a trapezoidal-shaped road shoulder. When four ultrasonic sensors were used, 96.04% availability and 13.50 cm accuracy (root mean square error) were achieved.

The Global Positioning System (GPS) has become the most widely used positioning, navigation, and timing system. However, the vulnerability of GPS to radio frequency interference has attracted significant attention. After experiencing several incidents of intentional high-power GPS jamming trials by North Korea, South Korea decided to deploy the enhanced long-range navigation (eLoran) system, which is a high-power terrestrial radio-navigation system that can complement GPS. As the first phase of the South Korean eLoran program, an eLoran testbed system was recently developed and declared operational on June 1, 2021. Once its operational performance is determined to be satisfactory, South Korea plans to move to the second phase of the program, which is a nationwide eLoran system. For the optimal deployment of additional eLoran transmitters in a nationwide system, it is necessary to properly simulate the expected positioning accuracy of the said future system. In this study, we propose enhanced eLoran accuracy simulation methods based on a land cover map and transmitter jitter estimation. Using actual measurements over the country, the simulation accuracy of the proposed methods was confirmed to be approximately 10%–91% better than that of the existing Loran (i.e., Loran-C and eLoran) positioning accuracy simulators depending on the test locations.

An intercontinental metrological clock comparison between Italy and the Republic of Korea was performed by means of geodetic K -band VLBI observations. The comparison involved the hydrogen masers (H-masers) used at Medicina and Sejong radio telescopes. The same clocks were simultaneously compared by a satellite link and by high-precision optical clocks maintained at the National Metrology Institutes, KRISS in Korea and INRIM in Italy, and delivered to VLBI antennas via optical fiber. The H-masers frequency difference was estimated by extrapolating the clock rate from VLBI data using two geodetic VLBI software. This was subsequently compared with clock differences derived by satellite link and by local optical clocks. Results obtained with different approaches were in agreement at the level of 10 ⁻¹⁵ s s ⁻¹ . This pilot study demonstrates that standard high-frequency ( K -band) geodetic VLBI campaigns could be a viable approach to conduct intercontinental clock comparisons, now only possible via satellite links. This uncertainty can be reduced thanks to the planned installation of new-generation, broadband, high-frequency receivers on the involved telescopes. K / Q / W -band geodetic observations will allow an improvement of the accuracy of the resulting group delays through broad bandwidth synthesis from 20 to 100 GHz. Furthermore, the Frequency Phase Transfer method will also be explored together with the use of PCAL systems installed at the radio telescopes to improve phase stability and thus allow a better estimation of the station clock parameters.