• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.2A
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• pp.119-127
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• 2012

In this paper a super-resolution time delay estimation algorithm is developed for real-time locating systems (RTLSs) that employ a direct-sequence spread spectrum technique, along with its performance analysis in multipath environments. The classical correlation method provides relatively good performance in line-of-sight (LOS) environments but its performance seriously degrades in multipath environments, especially when signals are spaced closer than a PN chip. Therefore we shall develop a super-resolution time delay estimation algorithm that may estimate the time delays of multipath signals even in closely spaced multipath environments using the MUSIC algorithm for direction-of-arrival estimation and analyze its performance by applying the algorithm to the ISO/IEC 24730-2.1 RTLS system. 

• The KIPS Transactions:PartB
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• v.10B no.4
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• pp.411-418
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• 2003

The proposed system in this paper uses a camera attached to a mobile device in order to inquire a car and track its location anywhere. To do this, the system recognizes and verifies license plates on the front and back of a cu. The plates are scanned by the camera attached to a mobile device. The technology enables us to detect a car registration number and to transmit the number along with the location of the device to a server through a wireless communication network. The information of a car obtained through the terminal is encoded and transmitted to a server in a remote place through a wireless communication network also. The car registration number and its location information are decoded and transmitted as a text to the server in a remote place. In order to track a user´s location through spatial relative distance estimated in real-time, the server uses the spatial and attribute information which are the most prior to the desired data value. With this property information, the right location can be calculated.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.10
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• pp.1044-1050
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• 2014

Robots used for pipe inspection have been studied for a long time and many mobile mechanisms have been proposed to achieve inspection tasks within pipelines. Localization is an important factor for an inpipe robot to perform successful autonomous operation. However, sensors such as GPS and beacons cannot be used because of the unique characteristics of inpipe conditions. In this paper, an inpipe localization algorithm based on elbow detection is presented. By processing the projected marker images of laser pointers and the attitude and heading data from an IMU, the odometer module of the robot determines whether the robot is within a straight pipe or an elbow and minimizes the integration error in the orientation. In addition, an off-line positioning algorithm has been performed with forward and backward estimation and Procrustes analysis. The experimental environment has consisted of several straight pipes and elbows, and a map of the pipeline has been constructed as the result.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.12
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• pp.2636-2641
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• 2010

To support anti-collision between ship to ship and sea-search and sea-rescue work, ship automatic identification system(AIS) that can both send and receive messages between ship and VTS Traffic control have been adopted. And port control system can control traffic vessel service which is co-operated with AIS. For more efficient traffic vessel service, ship recognition and display system is required to cooperated with AIS. In this paper, we propose ship detection system which is co-operated with AIS by using background estimation based on image processing for on the sea or harbor image extracted from camera. We experiment with on the sea or harbor image extracted from real-time input image from camera. By computer simulation and real world test, the proposed system show more effective to ship monitoring.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.38 no.3
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• pp.259-267
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• 2020

For real-time precise positioning, N-RTK (Network Real-Time Kinematic) technology is widely used these days. However, the currently operating N-RTK system has a limitation in terms of the number of users. Therefore, if reference points generate correction messages with no limit on the number of users are developed later, it is determined that an appropriate reference point installation interval is required, so that the accuracy of the N-RTK system according to the baseline distance was analyzed. This experiment utilized receivers with varying performance that estimated the rover position, and RTKLIB, an open-source software, is used for processing data. As a result, the rover position was estimated accurately with a high rate of fixed ambiguity for all the receivers. When the reference station with a baseline length of 40 km was used, the vertical RMSE (Root Mean Squared Error) was quite similar to the short baseline case, but only half of the ambiguity fixing rate was achieved. The outlier in the estimated rover position was not observed for the longer baselines in the case of a high-end receiver. It is necessary to analyze the ambiguity fixing and the accuracy of the kinematic positioning with scientific GNSS processing software.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.22 no.3
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• pp.217-223
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• 2004

In order to improve real-time positioning accuracy, a number of methods have been tested and one of those is the inverted RTK(Real-time kinematic) that gives a precise positioning by handling carrier phase measurements. For the inverted RTK positioning, it needs the L1 phase measurement at least for 1～2 minutes and the additional reference stations/communication system and a data processing server are required. The L1 code and carrier phase measurements for real-time application are used simultaneously and then Kalman filter is applied to estimate integer ambiguities. Double differenced integer ambiguities are resolved by utilizing the FARA(Fast Ambiguity Resolution Approach). In this paper, we propose the method to improve the positioning accuracy and performed the field tests for several baselines from DAEJ reference station in KAO(Korea Astronomy Observatory).

• Journal of the Institute of Convergence Signal Processing
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• v.13 no.4
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• pp.166-172
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• 2012

The standard wave height measurement system is usually based on spectrum analysis for measuring wave height. The spectrum analysis is complicated because of the FFT, and the FFT is not for real time processing since it requires the saved data segments. In this paper, we carried out the performance evaluation of real-time and simpler wave height measurement system using the kalman filter and inertial sensors. The kalman filter theory is complicated, but its algorithm is simpler than the FFT and the kalman filter is used to estimate wave height by integrating acceleration data. But the accumulated error is occurred when the acceleration data is integrated. We developed the algorithm using the wind wave characteristic to decrease the accumulated error. In this paper, the performance evaluation of the wave height measurement system is carried out for various wind wave conditions. Through the experiments, we verified that it shows high measurement performance with the 3.5% margin of error in wind wave condition.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.9
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• pp.347-352
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• 2012

In this paper, an 2D spatial-map construction for workers identification and avoidance of AGV using the detection scheme of the spatial coordinates based on stereo camera is proposed. In the proposed system, face area of a moving person is detected from a left image among the stereo image pairs by using the YCbCr color model and its center coordinates are computed by using the centroid method and then using these data, the stereo camera embedded on the mobile robot can be controlled for tracking the moving target in real-time. Moreover, using the disparity map obtained from the left and right images captured by the tracking-controlled stereo camera system and the perspective transformation between a 3-D scene and an image plane, depth map can be detected. From some experiments on AGV driving with 240 frames of the stereo images, it is analyzed that error ratio between the calculated and measured values of the worker's width is found to be very low value of 2.19% and 1.52% on average.

• Journal of Satellite, Information and Communications
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• v.11 no.4
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• pp.81-88
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• 2016

In this paper, we propose an adaptive multi-target estimation algorithm using the characteristics of signals in the IR-UWB(Impulse-Radio Ultra Wideband) radar system, which is attracting attention because it has good transparency, robustness to the indoor environment, and high precision positioning of tens of centimeters. We proposed an algorithm that estimates multiple peaks with the characteristic that the signal reflected by the target has a peak. To verify the performance of these algorithms, multiple targets were placed in front of the radar and the existing technique and the multi - target estimation algorithm were compared. The location of the targets is estimated in real time with one transmitting antenna and one receiving antenna. The number of estimates can be increased compared with the existing peak signal derivation method, and multiple targets can be derived. The conventional technique estimates only one target, which results in a mean square error of 1 while a multi - target estimation algorithm yields a result of about 0.05. The proposed method is expected to be able to apply multiple targets to the estimation and application in one IR-UWB module environment.

• Journal of Digital Convergence
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• v.13 no.1
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• pp.297-304
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• 2015

Recently, the demand for a PRT(Personal Rapid Transit) system based on autonomous navigation is increasing. Accordingly, the applicability investigations of the PRT system on rail tracks or roadways have been widely studied. In the case of unmanned vehicle operations without physical guideways on roadways, to monitor the position of the vehicle in real time is very important for stable, robust and reliable guidance of an autonomous vehicle. The Global Positioning System (GPS) has been commercially used for vehicle positioning. However, it cannot be applied in environments as tunnels or interiors of buildings. The PRT navigation system based on magnetic markers reference sensing that can overcome these environmental restrictions and the vehicle dynamics model for its H/W configuration are presented in this study. In addition, the design of a control S/W dedicated for unmanned operation of a PRT vehicle and its prototype implementation for experimental validation on a pilot network were successfully achieved.