This study was carried out to investigate the flora and the vegetation of Samusan mountain on Jecheon-si, located in the middle part of the Korean peninsula. The vascular plants which were collected in 9 times from June 2014 to October 2015 were identified as 502 taxa in total, including 102 families, 314 genera, 445 species, 6 subspecies, 49 varieties, 1 form and 1 hybrid. The largest families were as follows; Asteraceae (70 taxa), Poaceae (52 taxa), Rosaceae (30 taxa), Fabaceae (28 taxa), and Cyperaceae (20 taxa). Of them, Korean endemic plants numbered 10 taxa, and vascular plants listed in the red data according to the International Union for Conservation of Nature (IUCN) numbered 14 taxa. The floristic regional indicator plants found in this area were 61 taxa in total. Among them, 5 taxa revealed the floristic grade Ⅴ, 11 for floristic grade Ⅳ, 14 for floristic grade Ⅲ, 10 for floristic grade Ⅱ, and 21 for floristic grade Ⅰ. The alien plants were identified as 43 taxa and the percentage of naturalized index (NI) was 8.6%, and urbanization index (UI) was 13.4%, respectively. Samples of the forest vegetation on the Samusan Mt. were mainly classified as Pinus densiflora, Quercus variabilis, Q. acutissima, Q. mongolica, Zelkova serrata and Robinia pseudoacacia forest. The vertical structures of the forest were stable and the DBH-Class analyses showed that the dominant tree species would be maintained. In the surveyed areas, high plant diversity was shown, and a number of endemic, rare, calcicole plants and phytogeographically important plants were found. Nonetheless, numerous and diverse biological resources native have been consistently disturbed or damaged by human activities without some form of protection. Therefore, it is needed to set up strategies for conservation forest vegetation in this study area.

In this paper, a high precision outdoor positioning system is newly proposed using multiple GPS receivers based on the Extended Kalman Filter (EKF). Typically, the GPS signal has the instantaneous errors that degrade the positioning seriously. Using the multiple GPS receivers instead of an expensive DGPS receiver, the positioning reliability and accuracy are improved in this research as a low cost solution. To incorporate the small displacement, an INS data have been tightly coupled to the GPS data, which has the inherit disadvantage of the cumulative error occurring over time. To achieve a stabilized and accurate positioning system, the multiple GPS receiver data are fused with the INS data through the EKF process. Through real navigation experiments of an outdoor mobile robot, the performance of the proposed system has been verified to be accurate comparable to DGPS system with a lower cost.