{"id":8880,"date":"2025-07-22T15:29:06","date_gmt":"2025-07-22T15:29:06","guid":{"rendered":"https:\/\/www.oxts.com\/?p=8880"},"modified":"2025-08-14T15:58:08","modified_gmt":"2025-08-14T15:58:08","slug":"mobile-mapping-with-lidar-why-is-an-ins-essential","status":"publish","type":"post","link":"https:\/\/www.oxts.com\/ko\/mobile-mapping-with-lidar-why-is-an-ins-essential\/","title":{"rendered":"LiDAR\ub97c \uc0ac\uc6a9\ud55c \ubaa8\ubc14\uc77c \ub9e4\ud551 - \uad00\uc131 \ub0b4\ube44\uac8c\uc774\uc158 \uc2dc\uc2a4\ud15c\uc774 \ud544\uc218\uc801\uc778 \uc774\uc720\ub294 \ubb34\uc5c7\uc778\uac00\uc694?"},"content":{"rendered":"
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\uad00\uc131 \ud56d\ubc95 \uc2dc\uc2a4\ud15c - LiDAR\ub97c \uc0ac\uc6a9\ud55c \ubaa8\ubc14\uc77c \ub9e4\ud551\uc5d0 \uad00\uc131 \ud56d\ubc95 \uc2dc\uc2a4\ud15c\uc774 \ud544\uc218\uc778 \uc774\uc720\ub294 \ubb34\uc5c7\uc778\uac00\uc694?<\/h3>\n\n \n\n\n \n\n\n\n
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\uc774 \uae00\uc740 OXTS\uc758 \uc218\uc11d \uc81c\ud488 \uc5d4\uc9c0\ub2c8\uc5b4\uc778 \uc774\uc548 \ud074\ub77c\ud06c\uac00 \ub2e4\uc74c\uacfc \ud611\ub825\ud558\uc5ec \uc791\uc131\ud588\uc2b5\ub2c8\ub2e4. LiDAR \ub274\uc2a4<\/span><\/a>. Iain\uc740 \uad00\uc131 \ub0b4\ube44\uac8c\uc774\uc158, \uc13c\uc11c \uc735\ud569 \ubc0f \uace0\uae09 \uc704\uce58\ucd94\uc801 \uae30\uc220 \uc804\ubb38\uac00\uc785\ub2c8\ub2e4.<\/em><\/p>\n

 <\/p>\n\n <\/div>\n\n <\/div>\n <\/div>\n \n \n <\/div>\n\n\n

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\uad00\uc131 \ub0b4\ube44\uac8c\uc774\uc158 \uc2dc\uc2a4\ud15c \uc18c\uac1c<\/h4>\n\n \n\n\n \n\n

INS\ub780 \ubb34\uc5c7\uc778\uac00\uc694?<\/h5>\n\n\n
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\uad00\uc131 \ud56d\ubc95 \uc2dc\uc2a4\ud15c(INS)\uc740 \ub9ce\uc740 \ucd5c\uc2e0 \uc704\uce58 \uce21\uc704 \uc6cc\ud06c\ud50c\ub85c\uc6b0\uc5d0\uc11c \ud544\uc218\uc801\uc778 \ubd80\ubd84\uc774 \ub418\uc5c8\uc73c\uba70, \ud2b9\ud788 \uae30\uc874 GNSS\ub85c\ub294 \ubd80\uc871\ud560 \ub54c \ub354\uc6b1 \uadf8\ub807\uc2b5\ub2c8\ub2e4. \uc774 \uc139\uc158\uc5d0\uc11c\ub294 INS\uac00 LiDAR\uc640 \uac19\uc740 \uae30\uc220\uc758 \uc911\uc694\ud55c \ub3d9\ubc18\uc790\uc778 \uc774\uc720\ub97c \uc0b4\ud3b4\ubd05\ub2c8\ub2e4.<\/p>\n

INS\ub294 \uad00\uc131 \uc13c\uc11c\uc640 \uc815\uad50\ud55c \uc54c\uace0\ub9ac\uc998\uc744 \uc0ac\uc6a9\ud558\uc5ec \uc704\uce58\uc640 \uc6c0\uc9c1\uc784\uc744 \uce21\uc815\ud558\ub294 \uc7a5\uce58\uc785\ub2c8\ub2e4. \uac00\uc7a5 \uae30\ubcf8\uc801\uc778 \uc218\uc900\uc5d0\uc11c INS\ub294 \ucd94\uce21 \ud56d\ubc95\uc774\ub77c\ub294 \uae30\uc220\uc744 \uc0ac\uc6a9\ud558\uc5ec \ub9c8\uc9c0\ub9c9\uc73c\ub85c \uc54c\ub824\uc9c4 \uc704\uce58\uc640 \uadf8 \uc774\ud6c4 \uac00\uc18d\ub3c4 \ubc0f \uac01\uc18d\ub3c4 \uce21\uc815\uac12\uc758 \ud1b5\ud569\uc744 \uae30\ubc18\uc73c\ub85c \ubb3c\uccb4\uac00 \uc5b4\ub5bb\uac8c \uc6c0\uc9c1\uc600\ub294\uc9c0 \uc9c0\uc18d\uc801\uc73c\ub85c \ucd94\uc815\ud569\ub2c8\ub2e4. \uadf8\ub7ec\ub098 \uc774\ub7ec\ud55c \uad00\uc131 \uce21\uc815\uac12\uc5d0\ub294 \uc791\uc740 \uc624\ucc28\uac00 \uc874\uc7ac\ud558\uba70, \uc774\ub7ec\ud55c \uc624\ucc28\ub294 \uc18d\ub3c4\ub97c \uacc4\uc0b0\ud558\uae30 \uc704\ud574 \ud1b5\ud569\ud560 \ub54c \ucee4\uc9c0\uace0, \uc704\uce58\ub97c \uacc4\uc0b0\ud558\uae30 \uc704\ud574 \ub2e4\uc2dc \ud1b5\ud569\ud560 \ub54c \ub354\uc6b1 \ucee4\uc9d1\ub2c8\ub2e4. \uc624\ucc28 \uc99d\uac00\ub97c \uc81c\ud55c\ud558\uae30 \uc704\ud574 \uad00\uc131 \uce21\uc815 \uc7a5\uce58(IMU)\uc5d0 \ucd94\uac00 \uc13c\uc11c\ub97c \uacb0\ud569\ud558\ub294 \uacbd\uc6b0\uac00 \ub9ce\uc2b5\ub2c8\ub2e4. \uac00\uc7a5 \uc77c\ubc18\uc801\uc73c\ub85c \uc0ac\uc6a9\ub418\ub294 \ubcf4\uc870 \uc13c\uc11c \uc911 \ud558\ub098\ub294 GNSS\uc785\ub2c8\ub2e4.<\/p>\n\n <\/div>\n\n <\/div>\n <\/div>\n \n \n <\/div>\n\n\n

\"RT3000
RT3000 v4 GNSS\/INS<\/figcaption><\/figure>\n\n\n\n
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LiDAR\ub97c \uc0ac\uc6a9\ud55c \ubaa8\ubc14\uc77c \ub9e4\ud551\uc5d0\uc11c INS\uac00 \uc911\uc694\ud55c \uc774\uc720<\/h4>\n\n \n\n\n \n\n\n\n
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LiDAR\uc758 \uac00\uc7a5 \ud070 \uc7a5\uc810\uc740 \uace0\ubc00\ub3c4, \uace0\uc815\ubc00 \uacf5\uac04 \ub370\uc774\ud130\ub97c \ube60\ub974\uac8c \ucea1\ucc98\ud560 \uc218 \uc788\ub2e4\ub294 \uc810\uc785\ub2c8\ub2e4. \uadf8\ub7ec\ub098 LiDAR \uc2a4\uce90\ub108\ub97c \ub2e4\uc74c\uacfc \uac19\uc774 \uc6c0\uc9c1\uc774\ub294 \ud50c\ub7ab\ud3fc\uc5d0 \uc7a5\ucc29\ud558\uba74 \ucc28\ub7c9<\/a> \ub610\ub294 \ud56d\uacf5\uae30<\/a>\ub97c \uc0ac\uc6a9\ud558\uba74 \ud50c\ub7ab\ud3fc\uc758 \uc704\uce58\uc640 \ubc29\ud5a5\uc774 \uc5bc\ub9c8\ub098 \uc815\ud655\ud558\uac8c \uc5c5\ub370\uc774\ud2b8\ub418\ub290\ub0d0\uc5d0 \ub530\ub77c \ub370\uc774\ud130\uc758 \uc815\ud655\ub3c4\uac00 \ub2ec\ub77c\uc9d1\ub2c8\ub2e4. \uc774\uac83\uc774 \ubc14\ub85c \uace0\uc18d \uad00\uc131 \ub0b4\ube44\uac8c\uc774\uc158\uc774 \ud544\uc694\ud55c \uc774\uc720\uc785\ub2c8\ub2e4.<\/p>\n\n <\/div>\n\n <\/div>\n <\/div>\n \n \n <\/div>\n\n\n

\"Oxford
\uc625\uc2a4\ud37c\ub4dc\uc640 \uc21c\uad50\uc790 \uae30\ub150\uad00\uc758 \ud3ec\uc778\ud2b8 \ud074\ub77c\uc6b0\ub4dc<\/figcaption><\/figure>\n\n\n\n
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\ud558\uc774\uc5d4\ub4dc INS\uc640 \uac19\uc740\u00a0OXTS RT3000 v4<\/a><\/span>\ub294 100Hz(\ucd08\ub2f9 100\ud68c) \ub610\ub294 250Hz\uc758 \uc18d\ub3c4\ub85c \ub0b4\ube44\uac8c\uc774\uc158 \ub370\uc774\ud130\ub97c \uc81c\uacf5\ud560 \uc218 \uc788\uc5b4, \uc7a5\uc560\ubb3c\uc774 \uc788\ub294 \ud658\uacbd\uc5d0\uc11c\ub294 \ub0ae\uc740 \uc5c5\ub370\uc774\ud2b8 \uc8fc\ud30c\uc218\uc640 \uc2e0\ud638 \ub4dc\ub86d\uc544\uc6c3\uc73c\ub85c \uc778\ud574 \uc81c\ud55c\ub418\ub294 \uc77c\ubc18\uc801\uc778 GNSS \uc804\uc6a9 \uc194\ub8e8\uc158\ubcf4\ub2e4 \ud6e8\uc52c \ube60\ub978 \uc18d\ub3c4\ub97c \uc790\ub791\ud569\ub2c8\ub2e4. INS\uc758 \uace0\uc8fc\ud30c, \uc800\uc9c0\uc5f0 \ub370\uc774\ud130 \uc2a4\ud2b8\ub9bc\uc740 \uc704\uce58\ub098 \ubc29\ud5a5\uc758 \ud3b8\ucc28\ub85c \uc778\ud574 \ud3ec\uc778\ud2b8 \ud074\ub77c\uc6b0\ub4dc \ub370\uc774\ud130\uc5d0 \uc0c1\ub2f9\ud55c \uc624\ub958\uac00 \ubc1c\uc0dd\ud560 \uc218 \uc788\ub294 LiDAR\ub85c \ubaa8\ubc14\uc77c \ub9e4\ud551\uc744 \ud560 \ub54c \uc815\ud655\uc131\uc744 \ubcf4\uc7a5\ud558\ub294 \ub370 \ud0c1\uc6d4\ud55c \ub3c4\uad6c\uc785\ub2c8\ub2e4. SLAM\uc740 \uc704\uce58\uc640 \ubc29\ud5a5\uc744 \uacb0\uc815\ud558\ub294 \ub300\uc548\uc801\uc778 \ubc29\ubc95\uc744 \uc81c\uacf5\ud558\uc9c0\ub9cc, INS\uc758 \uc9c0\uc6d0\uc774 \uc5c6\ub294 SLAM \uc804\uc6a9 \uc2dc\uc2a4\ud15c\uc740 \ud604\uc7ac \uae30\uc220\ub85c\ub294 \ud488\uc9c8\uc774 \ub0ae\uc740 \ud3ec\uc778\ud2b8 \ud074\ub77c\uc6b0\ub4dc\ub97c \uc0dd\uc131\ud569\ub2c8\ub2e4.<\/p>\n\n <\/div>\n\n <\/div>\n <\/div>\n \n \n <\/div>\n\n\n

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INS\ub294 \uc5b4\ub5bb\uac8c \uc791\ub3d9\ud558\ub098\uc694?<\/h4>\n\n \n\n\n \n\n\n\n
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INS\uc758 \uc791\ub3d9 \ubc29\uc2dd\uc744 \uc774\ud574\ud558\ub824\uba74 \uba3c\uc800 \ud575\uc2ec \uad6c\uc131 \uc694\uc18c\ub97c \uc0b4\ud3b4\ubcf4\ub294 \uac83\uc774 \uc911\uc694\ud569\ub2c8\ub2e4. INS\ub294 \uac00\uc18d\ub3c4\uacc4\uc640 \uc790\uc774\ub85c\uc2a4\ucf54\ud504\uc758 \uc815\ubc00\ud55c \ubaa8\uc158 \uac10\uc9c0\uc5d0 \uc758\uc874\ud558\uba70, \uc774 \ub458\uc744 \ud569\uccd0 \uad00\uc131 \uce21\uc815 \uc7a5\uce58(IMU)\ub97c \ud615\uc131\ud569\ub2c8\ub2e4. IMU \ub370\uc774\ud130\ub294 \uc815\uad50\ud55c \uc54c\uace0\ub9ac\uc998\uc5d0 \uc758\ud574 \ucc98\ub9ac\ub429\ub2c8\ub2e4. INS\ub294 \uc6d0\uc2dc IMU \ub370\uc774\ud130\uc640 \uc815\uad50\ud55c \uc54c\uace0\ub9ac\uc998\uc744 \uacb0\ud569\ud558\uc5ec \uc0c1\uc138\ud55c \ub0b4\ube44\uac8c\uc774\uc158 \ub370\uc774\ud130\ub97c \uacc4\uc0b0\ud569\ub2c8\ub2e4(\uad6c\uccb4\uc801\uc778 \uce21\uc815\uac12\uc740 \uc544\ub798\uc5d0 \uc124\uba85\ub418\uc5b4 \uc788\uc74c).<\/p>\n

\uac00\uc18d\ub3c4\uacc4 \ubc0f \uc790\uc774\ub85c\uc2a4\ucf54\ud504<\/h5>\n

\uac00\uc18d\ub3c4\uacc4\uc640 \uc790\uc774\ub85c\uc2a4\ucf54\ud504\ub294 IMU\ub97c \uad6c\uc131\ud558\ub294 \uc13c\uc11c \uad6c\uc131 \uc694\uc18c\uc785\ub2c8\ub2e4. \uac00\uc18d\ub3c4\uacc4\ub294 \uc120\ud615 \uac00\uc18d\ub3c4\ub97c \uce21\uc815\ud558\uace0 \uc790\uc774\ub85c\uc2a4\ucf54\ud504\ub294 \uac01\uc18d\ub3c4 \ub610\ub294 \ud68c\uc804 \uc18d\ub3c4\ub97c \uce21\uc815\ud569\ub2c8\ub2e4. IMU\ub294 \uc77c\ubc18\uc801\uc73c\ub85c \uac01 \uce21\uc815 \ucd95(x, y, z)\uc5d0 \uc774\ub7ec\ud55c \uc13c\uc11c\uac00 \uac01\uac01 \ud558\ub098\uc529 \ud3ec\ud568\ub418\uc5b4 \uc788\uc73c\ubbc0\ub85c \"6\ucd95\" \uc13c\uc11c\ub77c\uace0 \ud569\ub2c8\ub2e4.<\/p>\n

\ub2e4\uc591\ud55c \ub4f1\uae09\uc758 IMU\ub97c \ub9cc\ub4dc\ub294 \ub370 \uc0ac\uc6a9\ub418\ub294 \ub2e4\uc591\ud55c \uae30\uc220\uc774 \uc788\uc9c0\ub9cc \uac00\uc7a5 \ub110\ub9ac \uc0ac\uc6a9\ub418\ub294 \uac83\uc740 MEMS(\ubbf8\uc138\uc804\uc790\uae30\uacc4\uc2dc\uc2a4\ud15c)\uc785\ub2c8\ub2e4. \uc774 \uae30\uc220\uc740 \uc2e4\ub9ac\ucf58 \uc2a4\ud504\ub9c1\uc5d0 \uc7a5\ucc29\ub41c \uc791\uc740 \uc9c8\ub7c9\uc744 \uc0ac\uc6a9\ud558\ub294 \ubc29\uc2dd\uc73c\ub85c \uc791\ub3d9\ud569\ub2c8\ub2e4. \uc6c0\uc9c1\uc784\uc774 \ubc1c\uc0dd\ud558\uba74 \uc9c8\ub7c9\uc774 \uc6c0\uc9c1\uc774\uba74\uc11c \uc9c8\ub7c9\uacfc \uc804\uadf9 \uc0ac\uc774\uc758 \ucee4\ud328\uc2dc\ud134\uc2a4\uc5d0 \ubcc0\ud654\ub97c \uc77c\uc73c\ud0a4\uace0, \uc774\ub97c \ub514\uc9c0\ud138 \uc804\uae30 \uc2e0\ud638\ub85c \ubcc0\ud658\ud558\uc5ec \uc6c0\uc9c1\uc784\uc758 \uce21\uc815\uac12\uc744 \uc81c\uacf5\ud569\ub2c8\ub2e4.<\/p>\n

\ub0b4\ube44\uac8c\uc774\uc158 \ub370\uc774\ud130 \ucd9c\ub825<\/h5>\n

OXTS INS\ub294 \uae30\ubcf8\uc801\uc73c\ub85c 100Hz\ub85c \ub0b4\ube44\uac8c\uc774\uc158 \ub370\uc774\ud130\ub97c \ucd9c\ub825\ud558\uba70, \uace0\uc18d 250Hz \uc635\uc158\ub3c4 \uc0ac\uc6a9\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \ubaa8\ub4e0 \ub370\uc774\ud130\ub294 \uc790\ub3d9\uc73c\ub85c \ub0b4\ubd80 \uc2a4\ud1a0\ub9ac\uc9c0\uc5d0 \uae30\ub85d\ub418\uba70 \ub9e4\uc6b0 \uc9e7\uc740 \uc9c0\uc5f0 \uc2dc\uac04\uc73c\ub85c \uc2e4\uc2dc\uac04\uc73c\ub85c \ucd9c\ub825\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \ub0b4\ube44\uac8c\uc774\uc158 \ub370\uc774\ud130\uc5d0\ub294 \ub2e4\uc591\ud55c \uae30\uc900 \ud504\ub808\uc784\uacfc \uc88c\ud45c\uacc4\uc5d0\uc11c \uc2dc\uac04, \uc704\uce58, \uc18d\ub3c4, \ubc29\ud5a5, \uac00\uc18d\ub3c4, \uac01\uc18d\ub3c4 \ub4f1\uc774 \ud3ec\ud568\ub429\ub2c8\ub2e4. \uc774 \uc678\uc5d0\ub3c4 \uc815\ud655\ub3c4 \ucd94\uc815\uce58, \ud488\uc9c8 \uc9c0\ud45c, \uc0c1\ud0dc \uc815\ubcf4, \uc800\ud06c, \uc2ac\ub9bd \uac01\ub3c4, \uae30\ubcf5\uacfc \uac19\uc740 \ud2b9\uc815 \uc0b0\uc5c5\uc744 \uc704\ud55c \ud2c8\uc0c8 \uce21\uc815\uacfc \uac19\uc740 \ub2e4\uc591\ud55c \ucd94\uac00 \uc815\ubcf4\uac00 \uc788\uc2b5\ub2c8\ub2e4.<\/p>\n\n <\/div>\n\n <\/div>\n <\/div>\n \n \n <\/div>\n\n\n

I<\/p>\n\n\n\n

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INS\uc758 \uc801\uc6a9 \ubc94\uc704 \ud655\ub300<\/h4>\n\n \n\n\n \n\n\n\n
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\ub85c\ubd07 \uacf5\ud559, \ud56d\uacf5\uc6b0\uc8fc, \uc790\uc728 \uc2dc\uc2a4\ud15c\uacfc \uac19\uc740 \uc0b0\uc5c5 \uc804\ubc18\uc5d0\uc11c \uc815\ubc00\ud55c \uc704\uce58 \uce21\uc704\uc5d0 \ub300\ud55c \uc218\uc694\uac00 \uc99d\uac00\ud568\uc5d0 \ub530\ub77c INS \ub3c4\uc785\uc774 \uac00\uc18d\ud654\ub418\uace0 \uc788\uc2b5\ub2c8\ub2e4. INS\ub294 \uc2e0\ud638\uac00 \uc81c\ud55c\ub41c \ud658\uacbd\uc5d0\uc11c GNSS\ub97c \ubcf4\uc644\ud558\uac70\ub098 \ub300\uccb4\ud568\uc73c\ub85c\uc368 \ucca8\ub2e8 \uc13c\uc11c \uc735\ud569\uc744 \ud1b5\ud574 \uc815\ud655\ud55c \uace0\uc8fc\ud30c \uc704\uce58 \ubc0f \ubc29\ud5a5 \uce21\uc815\uc744 \uac00\ub2a5\ud558\uac8c \ud569\ub2c8\ub2e4. \uc774 \uc139\uc158\uc5d0\uc11c\ub294 INS\uac00 \uac00\uc7a5 \uc911\uc694\ud55c \uc2dc\uae30\uc640 LiDAR\ub97c \ube44\ub86f\ud55c \ucd5c\uc2e0 \uae30\uc220\uc744 \uc9c0\uc6d0\ud558\ub294 \ubc29\ubc95\uc744 \uc0b4\ud3b4\ubd05\ub2c8\ub2e4.<\/p>\n

LiDAR\ub97c \uc0ac\uc6a9\ud55c \ubaa8\ubc14\uc77c \ub9e4\ud551 - INS\ub294 \uc5b8\uc81c \ud544\uc694\ud569\ub2c8\uae4c?<\/h5>\n

\ub3c5\ub9bd\ud615 GNSS\ub294 \ub192\uc740 \uc815\ud655\ub3c4\uc758 \uc704\uce58 \ub370\uc774\ud130\ub97c \uc81c\uacf5\ud560 \uc218 \uc788\uc9c0\ub9cc, \uc704\uc131 \uc2e0\ud638\uac00 \uc591\ud638\ud574\uc57c \ud55c\ub2e4\ub294 \ub2e8\uc810\uc774 \uc788\uc2b5\ub2c8\ub2e4. \ub610\ud55c \uc5c5\ub370\uc774\ud2b8 \uc18d\ub3c4\uac00 \uc0c1\ub300\uc801\uc73c\ub85c \ub290\ub824 \ubcf4\ub2e4 \ub3d9\uc801\uc778 \uc0ac\uc6a9 \uc0ac\ub840\uc5d0\ub294 \uc801\ud569\ud558\uc9c0 \uc54a\uc73c\uba70, \uc704\uce58\uc640 \uc18d\ub3c4 \uc815\ubcf4\ub9cc \uc81c\uacf5\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. INS \uae30\uc220\uc744 \ucd94\uac00\ud558\uba74 \uc0ac\uc6a9 \uc0ac\ub840\uc640 \uae30\ub2a5\uc758 \ubc94\uc704\uac00 \ud06c\uac8c \ub298\uc5b4\ub0a9\ub2c8\ub2e4. \uc13c\uc11c\uc640 IMU\ub97c \uc735\ud569\ud558\uba74 \ucd9c\ub825\uc758 \ud0c4\ub825\uc131\uc774 \ub192\uc544\uc838 \uc704\uc131 \uc2e0\ud638\uc758 \uc7a5\uc560\ubb3c\uc774\ub098 \uc190\uc2e4\uc5d0 \ub300\ucc98\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \ub610\ud55c \ub85c\uceec\ub77c\uc774\uc81c\uc774\uc158 \ub370\uc774\ud130\uac00 \ub354 \ube60\ub978 \uc18d\ub3c4\ub85c \ucd9c\ub825\ub418\uba70, \ud480 3D \ud3ec\uc988 \ubc0f \ub3d9\uc5ed\ud559 \ub370\uc774\ud130\uc5d0 \ud6e8\uc52c \ub354 \ub9ce\uc740 \uc815\ubcf4\ub97c \uc0ac\uc6a9\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/p>\n\n <\/div>\n\n <\/div>\n <\/div>\n \n \n <\/div>\n\n\n

\"Mobile
\nINS\ub294 \uc790\ub3d9\ucc28 \uc2dc\uc2a4\ud15c\uc5d0 \ub2e4\uc74c\uacfc \uac19\uc740 \uba87 \uac00\uc9c0 \uc774\uc810\uc744 \uc81c\uacf5\ud569\ub2c8\ub2e4.<\/figcaption><\/figure>\n\n\n\n
\n
\n
\n \n \n \n \n\n\n \n\n\n \n\n\n \n\n
INS\ub97c \uc0ac\uc6a9\ud558\ub294 \uc0b0\uc5c5<\/h5>\n\n\n
\n

INS \uae30\uc220\uc740 \ud56d\uacf5\uc6b0\uc8fc, \ubc29\uc704, \ud574\uc591, \uce21\ub7c9 \ubd84\uc57c\uc5d0\uc11c \uc624\ub79c \uc5ed\uc0ac\ub97c \uac00\uc9c0\uace0 \uc788\uc2b5\ub2c8\ub2e4. \ud558\uc9c0\ub9cc \ucd5c\uadfc\uc5d0\ub294 \uc790\ub3d9\ucc28 \ud14c\uc2a4\ud2b8, \ub85c\ubd07 \uacf5\ud559, \ubb34\uc778 \ud56d\uacf5\uae30, \uc99d\uac15 \ubc0f \uac00\uc0c1 \ud604\uc2e4(AR\/VR)\uacfc \uac19\uc740 \uc0c8\ub85c\uc6b4 \ubd84\uc57c\uc5d0\uc11c\ub3c4 \ub9ce\uc774 \ucc44\ud0dd\ub418\uace0 \uc788\uc2b5\ub2c8\ub2e4.<\/p>\n

\uc624\ub298\ub0a0 \uac00\uc7a5 \ud601\uc2e0\uc801\uc774\uace0 \ube60\ub974\uac8c \ubc1c\uc804\ud558\ub294 \ud504\ub85c\uc81d\ud2b8 \uc911 \uc77c\ubd80\ub294 GNSS\ub9cc\uc73c\ub85c\ub294 \uc2e0\ub8b0\ud560 \uc218 \uc5c6\uac70\ub098 \uc0ac\uc6a9\ud560 \uc218 \uc5c6\ub294 \ud658\uacbd\uc5d0\uc11c \uc6b4\uc601\ub418\ub294 \ud504\ub85c\uc81d\ud2b8\uc785\ub2c8\ub2e4. \uc5ec\uae30\uc5d0\ub294 \ub3c4\uc2dc \ud611\uace1, \ud130\ub110, \uc6b8\ucc3d\ud55c \uc232, \uc2e4\ub0b4\uc640 \uc2e4\uc678 \ud658\uacbd\uc744 \uc6d0\ud65c\ud558\uac8c \ud0d0\uc0c9\ud574\uc57c \ud558\ub294 \uc790\uc728 \uc2dc\uc2a4\ud15c\uc5d0\uc11c LiDAR\ub97c \uc0ac\uc6a9\ud55c \ubaa8\ubc14\uc77c \ub9e4\ud551\uc774 \ud3ec\ud568\ub429\ub2c8\ub2e4. \uc774\ub7ec\ud55c \uc2dc\ub098\ub9ac\uc624\uc5d0\uc11c INS\ub97c LiDAR \ubc0f \uce74\uba54\ub77c\uc640 \uac19\uc740 \ubcf4\uc644 \uc13c\uc11c\uc640 \uacb0\ud569\ud558\uba74 \uc815\uad50\ud55c \uc13c\uc11c \uc735\ud569\uc774 \uac00\ub2a5\ud558\uc5ec \uc815\ud655\ub3c4, \ubcf5\uc6d0\ub825, \uc6b4\uc601 \uc720\uc5f0\uc131\uc744 \ud5a5\uc0c1\uc2dc\ud0ac \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/p>\n

\ub77c\uc774\ub2e4\uc6a9 \uad00\uc131 \ud56d\ubc95 \uc2dc\uc2a4\ud15c<\/h5>\n

LiDAR\ub97c \uc774\uc6a9\ud55c \ubaa8\ubc14\uc77c \ub9e4\ud551\uc774 \uae30\uc874\uc758 \uc9c0\ub9ac \uacf5\uac04 \uce21\ub7c9\uc744 \ub118\uc5b4 \uc790\ub3d9\ucc28 \ud14c\uc2a4\ud2b8 \ubc0f \uc790\uc728\uc8fc\ud589\ucc28 \uac1c\ubc1c\uacfc \uac19\uc740 \ubd84\uc57c\ub85c \ud655\uc7a5\ub428\uc5d0 \ub530\ub77c INS\uc640 LiDAR\uc758 \ud1b5\ud569\uc774 \uc810\uc810 \ub354 \ubcf4\ud3b8\ud654\ub418\uace0 \uc788\uc2b5\ub2c8\ub2e4. INS\ub294 LiDAR \uae30\ubc18 \ub9e4\ud551\uc758 \uc815\ud655\uc131\uacfc \uc2e0\ub8b0\uc131\uc744 \ud5a5\uc0c1\uc2dc\ud0a4\uc9c0\ub9cc, LiDAR\ub294 INS\uc758 \uc131\ub2a5\ub3c4 \ud5a5\uc0c1\uc2dc\ud0ac \uc218 \uc788\uc2b5\ub2c8\ub2e4. \ucd5c\uadfc \ucd9c\uc2dc\ub41c OXTS WayFinder<\/a> \uac00 \ub300\ud45c\uc801\uc778 \uc608\ub85c, \uc0ac\uc804 \ud1b5\ud569\ub41c LiDAR \uc13c\uc11c\uac00 \ub0b4\uc7a5\ub418\uc5b4 \uc788\uc73c\uba70 LiDAR \ubd80\uc2a4\ud2b8 \uae30\uc220\uc744 \ud1b5\ud574 GNSS\uac00 \uc5c6\ub294 \ud658\uacbd\uc5d0\uc11c \uc704\uce58 \ud30c\uc545\uc5d0 LiDAR \ub370\uc774\ud130\ub97c \uc0ac\uc6a9\ud558\uc5ec \uc704\uce58 \ub4dc\ub9ac\ud504\ud2b8\ub97c \ud68d\uae30\uc801\uc73c\ub85c \uc904\uc774\uac70\ub098 \uc544\uc608 \uc5c6\uc560\uc90d\ub2c8\ub2e4. \uc774\ub294 \ub2e4\uc591\ud55c \uc791\ub3d9 \uc870\uac74\uc5d0\uc11c \uac15\ub825\ud558\uace0 \ud0c4\ub825\uc801\uc778 \uce21\uc704\ub97c \ub2ec\uc131\ud558\uae30 \uc704\ud574 \uc0c1\ud638 \ubcf4\uc644\uc801\uc778 \uae30\uc220\uc778 GNSS, INS, SLAM\uc744 \uacb0\ud569\ud558\ub294 \uac83\uc758 \uac00\uce58\ub97c \uac15\uc870\ud569\ub2c8\ub2e4.<\/p>\n\n <\/div>\n\n <\/div>\n <\/div>\n \n \n <\/div>\n\n\n

\"WayFinder\"
\uc13c\uc11c \ud4e8\uc804(INS \ubc0f LiDAR) \uae30\ub2a5\uc774 \ub0b4\uc7a5\ub41c OXTS WayFinder<\/figcaption><\/figure>\n\n\n\n
\n
\n
\n \n \n \n \n\n\n \n\n

INS\uc758 \ubc1c\uc804<\/h4>\n\n \n\n\n \n\n\n\n
\n

INS \uae30\uc220\uc758 \uae09\uc18d\ud55c \ubc1c\uc804\uc740 \uc815\ubc00 \ub0b4\ube44\uac8c\uc774\uc158\uc758 \uc0c8\ub85c\uc6b4 \uc9c0\ud3c9\uc744 \uc5f4\uc5c8\uc2b5\ub2c8\ub2e4. \ud558\ub4dc\uc6e8\uc5b4\uac00 \ub354 \uc791\uace0, \ub354 \ube60\ub974\uace0, \ub354 \uc800\ub834\ud574\uc9c0\uace0, \uc13c\uc11c \uc735\ud569 \uae30\uc220\uc774 \ub354\uc6b1 \uc815\uad50\ud574\uc9c0\uba74\uc11c INS\ub294 \ub354 \ub2e4\uc591\ud55c \uc0b0\uc5c5\uacfc \uc0ac\uc6a9 \uc0ac\ub840\uc5d0 \uc801\uc6a9\ub418\uace0 \uc788\uc2b5\ub2c8\ub2e4. \uc774 \uc139\uc158\uc5d0\uc11c\ub294 \uad00\uc131 \ub0b4\ube44\uac8c\uc774\uc158\uc758 \ubbf8\ub798\ub97c \ud615\uc131\ud558\uace0 \uc788\ub294 \uc8fc\uc694 \uac1c\ubc1c \uc0ac\ud56d, \ud604\uc7ac \uc9c4\ud589 \uc911\uc778 \uacfc\uc81c, \uc0c8\ub85c\uc6b4 \ud2b8\ub80c\ub4dc\ub97c \uc911\uc810\uc801\uc73c\ub85c \uc0b4\ud3b4\ubd05\ub2c8\ub2e4.<\/p>\n

INS\uc758 \ucd5c\uadfc \ubc1c\uc804<\/h5>\n

\uc218\ub144\uc5d0 \uac78\uce5c IMU\uc640 GNSS \uae30\uc220\uc758 \ubc1c\uc804\uc73c\ub85c \ud56d\uacf5\uae30\uc640 \uc7a0\uc218\ud568\ubfd0\ub9cc \uc544\ub2c8\ub77c \ub354 \ub9ce\uc740 \uc0b0\uc5c5 \ubd84\uc57c\uc5d0\uc11c INS\ub97c \uc0ac\uc6a9\ud560 \uc218 \uc788\uac8c \ub418\uc5c8\uc2b5\ub2c8\ub2e4. RTK \uae30\ub2a5\uc740 \uc774\uc81c GNSS \uc218\uc2e0\uae30\uc5d0 \uac70\uc758 \ubcf4\ud3b8\ud654\ub418\uc5b4 \ubcf4\uae09\ud615 \uc2dc\uc2a4\ud15c\uc5d0\uc11c\ub3c4 \uc13c\ud2f0\ubbf8\ud130 \uc218\uc900\uc758 \uc704\uce58 \uce21\uc704\uac00 \uac00\ub2a5\ud574\uc84c\uc2b5\ub2c8\ub2e4. \ub610\ud55c IMU\ub294 \uc9c1\uad50\ub85c \uc7a5\ucc29\ub41c \uac1c\ubcc4 \uac00\uc18d\ub3c4\uacc4\uc640 \uc790\uc774\ub85c\uc2a4\ucf54\ud504\uc758 \ucee4\ub2e4\ub780 \ubd80\ud53c \ube14\ub85d\uc5d0\uc11c 6\uac1c\uc758 \uc13c\uc11c\ub97c \ubaa8\ub450 \ub2e8\uc77c \ubaa8\ub4c8\uc5d0 \ud1b5\ud569\ud558\ub294 \uc18c\ud615 \uce69\uc73c\ub85c \ubc1c\uc804\ud588\uc2b5\ub2c8\ub2e4. \uc774\ub7ec\ud55c \uc13c\uc11c\uc758 \uc18c\ud615\ud654\uc640 \ube44\uc6a9 \uc808\uac10 \ub355\ubd84\uc5d0 \uc131\ub2a5\uc740 \uadf8\ub300\ub85c \uc720\uc9c0\ud558\uba74\uc11c \uaddc\ubaa8\uc5d0 \ub300\ud55c \ube44\uc804\uc744 \uac00\uc9c4 \uc790\uc728 \uc8fc\ud589 \ubc0f \ub85c\ubd07 \uacf5\ud559 \uac19\uc740 \uc2e0\ud765 \uc0b0\uc5c5\uc5d0\uc11c \uc2e4\ud589 \uac00\ub2a5\ud55c \ube44\uc6a9 \ud6a8\uc728\uc801\uc778 \uc2dc\uc2a4\ud15c\uc744 \uac1c\ubc1c\ud560 \uc218 \uc788\uac8c \ub418\uc5c8\uc2b5\ub2c8\ub2e4.<\/p>\n

INS\uc5d0 \ub300\ud55c \ud604\uc7ac \uc81c\ud55c \uc0ac\ud56d<\/h5>\n

INS \ub3c4\uc785\uc758 \uc804\ud1b5\uc801\uc778 \ud55c\uacc4 \uc911 \ud558\ub098\ub294 \ube44\uc6a9 \ubb38\uc81c\uc785\ub2c8\ub2e4. 10\uc5ec \ub144 \uc804\uc73c\ub85c \uac70\uc2ac\ub7ec \uc62c\ub77c\uac00\uba74, \ub9ce\uc740 \uae30\uc220\uc774 \uc5c4\uccad\ub098\uac8c \ube44\uc2f8\uc11c \uc801\uc808\ud55c \uc608\uc0b0\uc774 \uc788\ub294 \uad6d\ubc29 \ubc0f \ud56d\uacf5 \uc6b0\uc8fc\uc640 \uac19\uc740 \uc0b0\uc5c5\uc5d0\ub9cc \uc81c\ud55c\uc801\uc73c\ub85c \uc0ac\uc6a9\ub418\uc5c8\uc2b5\ub2c8\ub2e4. \ud558\uc9c0\ub9cc \uc9c0\uae08\uc740 \uae30\uc220\uc774 \ubc1c\uc804\ud558\uba74\uc11c \uc0c1\uc5c5\uc6a9 \ubc0f \uc0b0\uc5c5\uc6a9 \uc560\ud50c\ub9ac\ucf00\uc774\uc158\uc5d0\uc11c \ud6e8\uc52c \ub354 \uc2e4\uc6a9\uc801\uc774\uace0 \ud655\uc7a5 \uac00\ub2a5\ud55c \uae30\uc220\ub85c \ubc14\ub00c\uc5c8\uc2b5\ub2c8\ub2e4.<\/p>\n

\ucd5c\uadfc \uba87 \ub144 \ub3d9\uc548 \ub354\uc6b1 \ub110\ub9ac \ud37c\uc9c0\uace0 \uc788\ub294 \ub610 \ub2e4\ub978 \ud55c\uacc4\ub294 GNSS\uac00 \uc644\uc804\ud788 \ucc28\ub2e8\ub41c \ud658\uacbd\uc744 \ud3ec\ud568\ud55c \uae4c\ub2e4\ub85c\uc6b4 \ud658\uacbd\uc5d0\uc11c \uc791\ub3d9\ud574\uc57c \ud55c\ub2e4\ub294 \uc810\uc785\ub2c8\ub2e4. INS\uc5d0\uc11c IMU \uc624\ub958\ub97c \uc81c\ud55c\ud558\ub294 \uc720\uc77c\ud55c \ubcf4\uc870 \uc18c\uc2a4\uac00 GNSS\uc778 \uacbd\uc6b0, \uc774 \uae30\ub2a5\uc774 \uc5c6\uc73c\uba74 \uc0ac\uc6a9 \uac00\ub2a5\ud55c \ucd9c\ub825\uc744 \ub9e4\uc6b0 \ube60\ub974\uac8c \uc720\uc9c0\ud558\ub294 \ub370 \uc5b4\ub824\uc6c0\uc744 \uacaa\uac70\ub098 \uad11\uc12c\uc720 \ub610\ub294 \ub9c1 \ub808\uc774\uc800 \uc790\uc774\ub85c\uc640 \uac19\uc740 \ub9e4\uc6b0 \ube44\uc2f8\uace0 \ubc88\uac70\ub85c\uc6b4 IMU \uae30\uc220\uc5d0 \uc758\uc874\ud574\uc57c \ud569\ub2c8\ub2e4.<\/p>\n

\ubc14\ub85c \uc774 \uc9c0\uc810\uc5d0\uc11c \uace0\uae09 \uc13c\uc11c \uc735\ud569\uc774 \uc810\uc810 \ub354 \uc911\uc694\ud574\uc9c0\uace0 \uc788\uc2b5\ub2c8\ub2e4. GNSS\uc758 \ubd80\uc7ac\ub97c \ubcf4\uc644\ud558\uae30 \uc704\ud574 \ub354 \uc815\ubc00\ud55c IMU\uc5d0\ub9cc \uc758\uc874\ud558\ub294 \ub300\uc2e0, SLAM\uacfc \uac19\uc740 \uc811\uadfc \ubc29\uc2dd\uc744 \uc0ac\uc6a9\ud558\uc5ec LiDAR \ub610\ub294 \uce74\uba54\ub77c\uc640 \uac19\uc740 \ucd94\uac00 \uc13c\uc11c\ub97c \ud1b5\ud569\ud558\uba74 LiDAR\ub97c \uc0ac\uc6a9\ud55c \ubaa8\ubc14\uc77c \ub9e4\ud551\uc5d0 \uac15\ub825\ud55c \ub300\uccb4 \uc704\uce58 \uce21\ub7c9 \ub370\uc774\ud130 \uc18c\uc2a4\ub97c \uc81c\uacf5\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/p>\n

INS \uae30\uc220 \uac1c\ubc1c<\/h5>\n

\uac08\ub9b4\ub808\uc624\uc640 \uac19\uc740 \ucd5c\uc2e0 \uc704\uc131 \ubcc4\uc790\ub9ac\uac00 \uc815\ud655\ub3c4\uc640 \ubb34\uacb0\uc131\uc744 \ubaa8\ub450 \uac1c\uc120\ud558\ub294 \uc0c8\ub85c\uc6b4 \uc2e0\ud638\ub97c \uc81c\uacf5\ud558\uba74\uc11c IMU \ubc0f GNSS \uae30\uc220\uc740 \uacc4\uc18d \ubc1c\uc804\ud558\uace0 \uc788\uc2b5\ub2c8\ub2e4. \ud55c\ud3b8, \uc2e4\ub9ac\ucf58 \ud3ec\ud1a0\ub2c9\uc2a4 \ubc0f \uc591\uc790 \uc13c\uc2f1\uc744 \uae30\ubc18\uc73c\ub85c \ud558\ub294 \ucc28\uc138\ub300 IMU\uac00 \uace7 \ucd9c\uc2dc\ub420 \uc608\uc815\uc785\ub2c8\ub2e4. \uadf8\ub7ec\ub098 \uac00\uc7a5 \uc911\uc694\ud55c \ubc1c\uc804\uc740 GNSS\uc640 IMU\uc758 \ud55c\uacc4\ub97c \ub6f0\uc5b4\ub118\ub294 \uac83\uc774 \uc544\ub2c8\ub77c \uc13c\uc11c \uc735\ud569\uc758 \ubc94\uc704\ub97c \ud655\uc7a5\ud558\uc5ec \ud55c\uacc4\ub97c \ud574\uacb0\ud558\uace0 \uc911\ubcf5\uc131\uc744 \ucd94\uac00\ud558\ub294 \ub370\uc11c \ube44\ub86f\ub420 \uac83\uc785\ub2c8\ub2e4. \ub77c\uc774\ub354\uc640 \uc2dc\uac01\uc801 SLAM \uae30\uc220\uc740 \uc774\uc81c \uc0b0\uc5c5 \uc804\ubc18\uc5d0 \uac78\uccd0 \uad11\ubc94\uc704\ud558\uac8c \ud65c\uc6a9\ub418\uace0 \uc788\uc2b5\ub2c8\ub2e4. \uc774\ub7ec\ud55c \uc13c\uc11c\ub97c INS\uc640 \ud1b5\ud569\ud558\uba74 GNSS\uac00 \uc5c6\ub294 \ud658\uacbd\uc5d0\uc11c\ub3c4 \uc548\uc815\uc801\uc73c\ub85c \uc791\ub3d9\ud558\ub294 \ubcf4\ub2e4 \uac15\ub825\ud558\uace0 \ub2e4\uc591\ud55c \uae30\ub2a5\uc744 \uac16\ucd98 \ub0b4\ube44\uac8c\uc774\uc158 \uc2dc\uc2a4\ud15c\uc744 \ub9cc\ub4e4 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/p>\n\n <\/div>\n\n <\/div>\n <\/div>\n \n \n <\/div>\n\n\n

\"OXTS
INS\ub97c \ud65c\uc6a9\ud55c \ub85c\ubd07 \uacf5\ud559<\/figcaption><\/figure>\n\n\n\n
\n
\n
\n \n \n \n \n\n\n \n\n\n \n\n\n \n\n
\uc790\uc728\uc131, \ub85c\ubd07 \uacf5\ud559 \ubc0f \uace0\uc815\ubc00\ub3c4<\/h5>\n\n\n
\n

\uc790\uc728 \uc8fc\ud589, \ub85c\ubd07 \uacf5\ud559, \uace0\uc815\ubc00 \ub9e4\ud551\uc774 \uc810\uc810 \ub354 \ubcf5\uc7a1\ud558\uace0 \ub2e4\uc591\ud55c \ud658\uacbd\uc73c\ub85c \ud655\uc7a5\ub428\uc5d0 \ub530\ub77c GNSS\uac00 \uc0ac\uc6a9\ub418\uc9c0 \uc54a\uac70\ub098 \uc131\ub2a5\uc774 \uc800\ud558\ub41c \uc870\uac74\uc5d0\uc11c \uc548\uc815\uc801\uc778 \uc704\uce58 \uce21\uc704\uc5d0 \ub300\ud55c \ud544\uc694\uc131\uc774 \ucee4\uc9c0\uace0 \uc788\uc2b5\ub2c8\ub2e4. GNSS\ub294 \uc0ac\uc6a9 \uac00\ub2a5\ud55c \uacbd\uc6b0 \uc5ec\uc804\ud788 \uae00\ub85c\ubc8c \ud3ec\uc9c0\uc154\ub2dd\uc744 \uc704\ud55c \uc720\uc6a9\ud55c \uc18c\uc2a4\uc774\uc9c0\ub9cc \ud130\ub110, \ubc00\uc9d1\ub41c \ub3c4\uc2ec \uc9c0\uc5ed, \uc232 \ub610\ub294 \uc2e4\ub0b4\uc5d0\uc11c\ub294 \uc2e0\ub8b0\ud560 \uc218 \uc5c6\uc2b5\ub2c8\ub2e4. \uc774\uc5d0 \ub530\ub77c \uc5c5\uacc4\uc5d0\uc11c\ub294 IMU\ub97c LiDAR, \uce74\uba54\ub77c, \uc8fc\ud589 \uac70\ub9ac \uce21\uc815\uacfc \uac19\uc740 \ub300\uccb4 \uc13c\uc11c\uc640 \ud1b5\ud569\ud558\ub294 \uace0\uae09 \uc13c\uc11c \uc735\ud569 \uc811\uadfc \ubc29\uc2dd\uc73c\ub85c \uc804\ud658\ud558\uace0 \uc788\uc2b5\ub2c8\ub2e4. \uc774\ub7ec\ud55c \uc2dc\uc2a4\ud15c\uc740 \ubaa8\ub4e0 \uc6b4\uc601 \ud658\uacbd\uc5d0\uc11c \uace0\uc815\ubc00, \uace0\uc2e0\ub8b0\uc131 \uce21\uc704\ub97c \uc81c\uacf5\ud558\ub3c4\ub85d \uc124\uacc4\ub418\uc5b4 GNSS \uac00\uc6a9\uc131\uc5d0 \uad00\uacc4\uc5c6\uc774 \uc77c\uad00\ub41c \uc131\ub2a5\uc744 \ubcf4\uc7a5\ud569\ub2c8\ub2e4.<\/p>\n\n <\/div>\n\n <\/div>\n <\/div>\n \n \n <\/div>\n\n\n\n

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RT3000 v4 \ub370\uc774\ud130\uc2dc\ud2b8 \ub2e4\uc6b4\ub85c\ub4dc<\/h3>\n\n \n\n\n \n\n

RT3000 v4\ub294 \ubaa8\ubc14\uc77c \ub9e4\ud551 \ud504\ub85c\uc81d\ud2b8\ub97c \uc815\ud655\ud558\uace0 \uc548\uc815\uc801\uc73c\ub85c \uc608\uc0b0\uc5d0 \ub9de\uac8c \uc81c\uacf5\ud560 \uc218 \uc788\ub3c4\ub85d \ub3c4\uc640\uc90d\ub2c8\ub2e4. \uc5ec\uae30\uc5d0\uc11c \uae30\uc220 \uc0ac\uc591\uacfc \ub354 \ub9ce\uc740 \uc8fc\uc694 \uc815\ubcf4\ub97c \ud655\uc778\ud558\uc138\uc694.<\/p>\n\n \n\n\n\n\n

\n \n\n\n \n \n RT3000 v4 \ub370\uc774\ud130\uc2dc\ud2b8<\/span>\n <\/a>\n\n <\/div>\n\n <\/div>\n <\/div>\n
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