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WG 14 14 15 15 1) 1/2 Kg4.5Kg 2) 3) 4) LAN 15 1) RLG 4
RLG RLG RLG ASIC RLG RLG RLG 3-1 5
RLG RLG RLG 3-1. 2) RLG 3) 6
14 (40W) 20W (0.8AH) 750g 3.0Kg 7.5Kg 1.0H 4) ZUPT/CUPT (Zero Velocity Update)/(Coordinate Update)P13 5) 14 ZUPT ( ) ZUPT CUPT 3-2. 7
3-3 IMU(Inertial Measurement Unit)T-16B RLG IMU ( ) ( ) CPU SH-4 ZUPT/CUPT CPU SIOSerial Input / Output IMU 8
T-16B IMU MRLG ACC IMU MPU SIO0 SRAM 15V,5V FRASH D/A PCMCIARS232C PC MRLG LAN IMU V/F 3-3. 9
3-4. 10
3-5. 11
3-6. 100Hz 1) ( ) 2) 12
3) 4) / 5) ( ) 6) 7) 8) 9) 10) ( ) 11) 12) 1) ZUPT 2) CUPT 13
15 14 3-1. (MRLGMonolithic Ring Laser Gyro)( ) 14 15 0.03 deg/h 0.2 deg/h 150 ppm 0.008 deg/h 150 ppm 0.05 deg/h 3-6.Monolithic Ring Laser Gyro 3-2. (1) 14 15 300 G 300 G 300 ppm 300 ppm 14
1 3-7. 3 1) 2) ( ) 3) 15
SH-4 3-8. 3-9. 16
( ) GPS Km 14 ( ) 14 ZUPT/CUPT ZUPT 4-1 17
4-1. () 1 1.15 1.48 0.03 2 2.07-2.56-0.06 3 0.83 2.23-0.08 4 1.04-0.77 0.1 5 2.4 1.14 0.08 RMS 1.62 1.77 0.07 4-1. 18
() ZUPT 20 (28) ZUPT () 20 0.5 0.1 0.57 0.3 0.77 0.4 1.0 0.5 1.7 0.7 1.9 0.9 () ZUPT 40 2.1 0.2 3.6 0.5 3.9 0.6 4.8 1.2 6.3 1.5 7.8 1.7 19
1 3 5 2 4 6 0 20 40 60 80 100 120 140 160 4-2. ZUPT 2 3 4 5 6 1 0 20 40 60 80 100 120 140 160 ZUPT 4-3. 20
1) 9Kg 4Kg 20cm35cm12cm 12cm12cm15cm 2) 3) 14 4) 1) ZUPT ZUPT 2) ZUPT ZUPT 3) 4) LAN ( ) 5) 1) 2) 3) 4) 5) INS/DGPS/VMS Integration In-Motion Alignment 21
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FiReCOS FiReCOS Fire fighting and Rescue Communication System FiReCOS FiReCOS FiReCOS PHS CS 39
LAN RJ-45 100Mbps 100Base-TX LAN (WLAN) RF ( ) IEEE (Institute of Electrical and Electronics Engineers) IEEE 802.11 802.11 WLAN LAN (TCP/IP ) WLAN.- LAN 802.11b 802.11g 802.11a DSSS ( OFDM ( OFDM ( ) ) ) 2.4GHz 2.4GHz 5GHz 11,5,,2,1(Mbps) 54,48,36,24,18,12,9,6 54,48,36,24,18,12,9,6 (Mbps) (Mbps) 3 3 8 ( 4) 11MBps30m 1 1Mbps91m 54MBps30m 6Mbps91m 54MBps12m 6Mbps91m 11MBps120m 54MBps120m 54MBps30m ( )1, 1Mbps460m 6Mbps460m 6Mbps305m IEEE802.11b Wi-Fi IEEE802.11b Wi-Fi IEEE802.11b Wi-Fi LAN 40
DSL(Digital Subscriber Line) 1989 ADSL(Asymmetric Digital Subscriber Line) DSL VDSL(Very high bit rate Digital Subscriber Line) ADSL 2040Mbps m PHS LAN FiReCOS - F 5 5 70(dB.u.V) F 4 5 47(dB.u.V) F 10m 2 2 27(dB.u.V) F 20m 20(dB.u.V) F 20(dB.u.V) 41
ad hoc 802.11 LAN TCP/IP OSPF(Open Shortest Path First) AODV(Ad hoc On-Demand Distance Vector) OSPF LAN AODV LAN HCS -1 (1) (2) (3) (4) 42
(1) (a) (b) (c) - (2) (a) (b) LAN (3) (a) (b) VDSL VDSL AODV 43
PHS W120mmH75mmD175mm 260g 230g LAN802.11bUDOP MyBattery4400 5-1 FiReCOS 5-1FiReCOS (1) 1.9GHz (2) 10mW 80mW (3) 100 (4) (5) MCA) (6) (7) (8) (9) (10) (11) (12) (13) (14) 44
PS1 1001 PS4 1004 PS2 1002 PS3 1003 PS5 1005 PS6 1006 PHS PBX1 PHS HCS1 CS 1 HUB AP 1 LAN CPU DC-DC - PS PHS PBX PC ON HCS LED 1ch LED 1ch ( ) PHS 1ch LED 1 2ch ( )1ch PHS 1ch LED 2 3ch ( )2ch PHS 1ch LED 3 (30 )1ch 2ch 3ch 45
PS1 1001 PS4 1004 PS2 1002 PS5 1005 PS3 1003 PS6 1006 CS1 PBX1 AP1 LAN HCS1 6-1ch LED 1ch PHS 1ch LED 1 2ch PHS 2ch LED 2 3ch PHS 3ch LED 3 46
LAN AP HCS HCS HCS - PS1 1011 PS4 1014 PS2 1012 PS5 1015 PS3 1013 PS6 1016 10m PHS CS2 PBX2 HUB LAN LAN AP 1 PHS CPU PC ( ) 960kByte PBX2 HCS HCS HCSAP AP 47
48 HCS PHS PHS - PBX2 CS2 AP1 HUB LAN PHS HCS1 10m PS4 1004 PS5 1005 PS6 1006 PS1 1001 PS2 1002 PS3 1003 PHS
HCS HCS - PS1 1001 PS4 1004 PS2 1002 PS5 1005 PS3 1003 PS6 1006 10m PHS PHS HCS1 PBX2 LAN CS2 HUB AP2 AP1 HCS AP AP ( 2004/2/14) No. Max.(mA) 3 Min.(mA) Avg.(mA) A-1 My Battery 1496 5V :5.16V 3.3V :3.304 V 5V :5.00 V 3.3V :3.30 V A-2 My Battery 1057 A-3 1ch 1 My Battery 1100 1089 A-4 2ch 1 My Battery 1140 1129 A-5 3ch 1 My Battery 1180 1165 A-6 2 My Battery 1196 1052 1129 max 49
(1)My Battery 2/1522 No. B-1-1 1 04:38 B-1-2 2 04:33 B-1-3 3 B-2-1 1ch 1 04:36 B-2-2 1ch 2 04:35 B-2-3 1ch 3 B-3-1 2ch 1 04:26 B-3-2 2ch 2 04:27 B-3-3 2ch 3 B-4-1 3ch 1 04:10 B-4-2 3ch 2 04:08 B-4-3 3ch 3 HCS DC ON-OFF ( :) (1)HCS 3/16 (m) PBX 100 5 30 5 5 5 120 4 1 20 5 5 5 150 4 1 30 5 5 5 165 4 1 10 5 5 5 170 1 PBX,AP AP 1m HCS 1.7m (2) 3/16 Pkt Byte (m) () 100 15:16 2 6678 1.24M 2.3Mbps 1 120 15:12 2 - - 1.5M 1 150 14:24 2 6690 1.24M 771K 1 165 14:52 2 6712 1.24M PBX, AP 1.7m PS 50
PHS 3/16 Level(MAX) Error (m) 100 5 5 5 5 60.9(dB.uV) 0(%) 150 5 5 5 5 50.6 0 200 3-4 5 5 5 41.6 0 220 3-4 5 4 5 43.0 0 240 5 5 5 5 54.0 0 240m 5m 240m 3/18 J-1 3 3F 2F 3 Buffalo WHR-A54G54 HCS DC-DC DC-DC HCS ONOFF 51
HCS A P LANIEEE 802. 11b 11Mbps PHS PHS 64kbps 192kbps 1.25 240kbps 1.25 HCS 1921.25240kbps HCS HCS 30 HCS 30 HCS HCS HCS HCS or HCS HCS 52
HCS HCS HCS LAN LAN PHS HCSAP IEEE802.11b LAN HCS AP HCS AP AP HCS 53
HCS PS HCS PS HCSAP HCS PHS HCS HCS 240m 200m PS PHS ARIB RCR STD-28 100m HCS PHS LAN HCS HCS AP 30 3dB HCS PS HCSPS 100m 5m PHS 50[dB.uV] 100m 3-7-3. HCS 54
AP PBX HCS PBX HCS PBX HCS AP HCS 3-7-3 PBX HCS AP 55
56 AODV CS - 1F 2F VDSL200m AODV AODV AODV AODV AODV HCS CS CS CS HCS LAN AP LAN AP 3F
- PHS VSDL 200m - - - -VDSL 57
-7 - CS FiReCOS PC CS VDSL HCS PHS HCS 58
PHS LAN PHS 100m VDSL VDSL HCS 1994 No.49pp57-611996 pp1-8 1993 pp30-64 1994 No.51 pp5-111998 FiReCOS No.89pp11-252000 59
LAN LAN IETF MANET DECENTRA [ 1]PC PDA 2002 9 [ 2] PC PDA greenpacket SONBuddy IPSec Mobile IP SONAccess Meshnetworks 60
LAN QDMA GPS AODV IETF AODV (Ad hoc On-demand Distance Vector) [ 5]DSR (Dynamic Source Routing) OLSR (Optimized Link State Routing) AODV AODV-UU [ 6]Kernel AODV [ 7] Linux AODV OSPF (Open Shortest Path First) [ 8]2 LAN VHF 160MHz260MHz400MHz LAN AODV/OSPF VHF PLC (Power Line Communication) LAN 10KHz 450KHz 100Kbps 61
HF PLC (High Frequency PLC) 2MHz 30MHz 45Mbps [1]: http://www.skyley.com [2]: http://www.rescuenow.net/today_line/topnews/0209/020901nerima.html [3]: http://www.greenpacket.com [4]: http://www.meshnetworks.com [5]: RFC3561, Ad hoc On-demand Distance Vector (AODV) Routing [6]: http://user.it.uu.se/~henrikl/aodv/ [7]: http://w3.antd.nist.gov/wctg/aodv_kernel/ [8]: 2003 B-6-120, B-6-121 62
802.11 LAN TCP/IP OSPF (Open Shortest Path First) AODV (Ad hoc On-Demand Distance Vector) 2 1 OSPF 1 63
(1) OSPF NBMA (Non Broadcast Multi Access) 1 OSPF (2) OSPF 1 (IP1 IP2, IP1IP3, IP2IP3, IP3IP4) (3) OSPF PVC ATM Inverse ARP Hello Link State Update 1 LAN (4) Hello Interval Router Dead Interval OSPF IP Hello Link State Update AODV AODV 64
1 AODV AODV (AODV ) 1 AODV AODV AODV AODV AODV AODV IP AODV AODV AODV AODV AODV AODV 65
AODV OSPF 3 LAN OSPF 2 66
3OSPF 2 VHF 67
68
2 1 2 3 4 5 6 RF CODE Trans-IT Pass Code System 1020 20 3 8.2 10 100 303.825MHz 2.45GHz 915MHz 868MHz 2.45GHz 60GHz 16 16 950MHz 950MHz CR2032 ID8bit+ A-Z 7 64bit 188bit 4kbyte 256kbyte 216byte 32 62 83 29 110 150 100mm 60 150 12mm 15mm, 25g 50mm 20mm 20mm AC100V AC100V AC100V AC110V AC100V DC12V DC24V RS232C RS232C, RS232C, LAN RS232C TCP/IP LAN TCP/IP TCP/IP 127 122 17.824.117.8 24.1 152512cm 38mm 6.7cm 6.7cm 30.2 23cm 230g 2.5kg 1.8kg 2kg 18.5cm, 5g 15.215.2 3.2cm, 270g 120KHz 7 1 7 3 69
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DM 77
78 ISO GM_Point GM_Surface GM Geometry
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3-4 XML jpeg SQL/MM 81
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1 1/2 Kg4.5Kg 2) 3) 5) LAN 1) 9Kg 4Kg 20cm35cm12cm 12cm12cm15cm 2) 3) 14 1) ZUPT 101
ZUPT 2) ZUPT ZUPT 3) 4) LAN ( ) 5) 15 1) HCS( (1) (2) (3) (4) 102
VDSL VDSL HCS 15 103
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