• Proceedings of the KIEE Conference
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• 대한전기학회 1999년도 추계학술대회 논문집 학회본부 B
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• pp.661-663
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• 1999

본 논문에서는 새로운 경로 계획 방법으로 중심 이등에 의한 경로 알고리즘을 제안한다. 제안된 알고리즘을 사용하여 곡률 반경을 이용한 경로 계획의 문제점인 각도오차가 커질수록 우회하는 현상을 보다 효율적으로 해결함을 시뮬레이션을 통하여 보인다. 또한 제안된 경로 알고리즘에 칼만 필터를 이용한 예측기를 적용시켜 로봇이 공을 추정하는데 발생할 수 있는 잡음에 강인함을 보이며 신뢰성 있는 결과를 확인한다.

• Journal of Advanced Navigation Technology
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• 제11권4호
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• pp.378-387
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• 2007

In this paper, Authors develop and verify the algorithm for enhancing the performance of Unmanned vehicle's Autonomous navigation, and also propose the method of establishing much more precise Navigation locus. Unmanned vehicle has a destination, however orientation is not notified, which make it find the future orientation itself. Extended Kalman Filter make it access to the desirable direction, which coupled with INS and GPS is proposed in this paper. Sliding mode control could overcome the side slip and lateral minor movement of the vehicle. The test result would shows the effectiveness of Extended kalman filter and Slide mode control for the navigation.

• Aerospace Engineering and Technology
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• 제13권2호
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• pp.66-72
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• 2014

This paper introduces an asynchronous multiple radar fusion algorithm for space object tracking. To estimate orbital motion of space object, a multiple radar scenario which jointly measures single object with different sampling time indices is described. STK/ODTK is utilized to determine realization of orbital motion and joint coverage of multiple radars. Then, asynchronous fusion algorithm is adapted to enhance the estimation performance of orbital motion during which multiple radars measure the same time instances. Monte-Carlo simulation results demonstrate that the proposed asynchronous multi-sensor fusion scheme better than single linearized Kalman filter in an aspect of root mean square error.

• Annual Conference of KIPS
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• 한국정보처리학회 2018년도 추계학술발표대회
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• pp.434-437
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• 2018

본 논문에서는 ROS (Robot Operating System)에 대해서 소개하고 ROS를 이용해 드론의 제어기와 필터를 구현해본다. 드론이 강인한 성능을 보이기 위해서는 기체의 상태에 대한 더 정확한 추정이 필요하다. 드론이 기체좌표계로 출력하는 각 축(x축, y축, z축)에 대한 선속도, 선가속도를 더 정확히 추정하기 위해 칼만 필터를 설계하며 칼만 필터를 통과한 상태 변수를 제어 입력으로 하는 PID(Proportional Integral Derivative) 제어기를 설계한다. 실험적인 부분에서는 제어기와 자율 주행 알고리즘을 접목시켜 드론이 자신의 상태를 추정하고 알고리즘을 순차적으로 진행하는 과정을 살펴본다. 마지막으로 알고리즘을 통해 드론의 임무 수행 여부를 살펴보고 정밀한 제어를 위한 추가적인 제어기 설계 방법과 연구 방향을 제시하고자 한다.

• Journal of Advanced Navigation Technology
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• 제28권4호
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• pp.379-385
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• 2024

INS(inertial navigation system) aligns itself using gravity and Earth's rotational rate from accelerometers and gyro sensors when stationary. Typically, ZUPT(zero velocity update), which is based on a linear error model Kalman filter, is used when it is stationary. However, such algorithms assume stationary conditions, leading to increased alignment errors or filter divergence during maritime mooring due to wave-induced motion. This paper designs a mooring alignment algorithm for maritime platforms using a Kalman filter, which uses large heading angle error model and an initial position correction technique. And it is validated by simulation. Furthermore, it is confirmed that applying this to a rotational INS dramatically improves performance through the principle of bias cancellation.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• 제34권5호
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• pp.81-87
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• 2006

In this paper, an experimental optical head tracker system is designed and constructed. The system is composed of the infrared LEDs and two infrared CCD cameras to filter out the interference of another light in the limited environment like the cockpit. Then the optical head tracker algorithm is designed by using the feature detection algorithm and the 3D motion estimation algorithm. The feature detection algorithm, used to obtain the 2D position coordinates of the features on the image plane, is implemented by using the thresholding and the masking techniques. The 3D motion estimation algorithm which estimates the motion of a pilot's head is implemented by using the extended Kalman filter (EKF). Also, we used the precise rate table to verify the performance of the experimental optical head tracker system and compared the rotational performance of this system with the inertial sensor.

• Journal of the Korea Institute of Information and Communication Engineering
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• 제19권6호
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• pp.1477-1484
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• 2015

This paper proposes a robust method for object tracking based on Kalman filters algorithm and covariance matrix. As a feature of the object to be tracked, covariance matrix ensures the continuity of the moving target tracking in the image frames because the covariance is addressed spatial and statistical properties as well as the correlation properties of the features, despite the changes of the form and shape of the target. However, if object moves faster than operation time, real time tracking is difficult. In order to solve the problem, Kalman filters are used to estimate the area of the moving object and covariance matrices as a feature vector are compared with candidate regions within the estimated Kalman window. The results show that the tracking rate of 96.3% achieved using the proposed method.

• Smart Media Journal
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• 제2권1호
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• pp.27-30
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• 2013

In this paper, we research the hand tracking and calibration algorithm using the EPIC sensor. We analyze the characteristics of EPIC sensor to be more sensitive in the around E-filed, and then we implement the 2-dimensional axis-transformation using the difference of detected amplitude between EPIC sensors. In addition, we implement the calibration algorithm considering the characteristics of EPIC sensor, and then we apply the Kalman filter to efficiently track a target. Thus, we implement the environment of window applications for verification and analysis the implemented algorithm. In turn, we use the DAQ API to extract the analog data. The DAQ hardware has the function of measuring and generating an electrical signal. Moreover, we confirm the movement of mouse cursor by detecting the potential difference depending on the movement of the user's hands.

• Journal of IKEEE
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• 제13권2호
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• pp.232-240
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• 2009

This paper presents a robust vehicle detection and tracking algorithm for supervision of illegal parking. The proposed algorithm is composed of four parts. First, a vehicle detection algorithm is proposed using the improved codebook object detection algorithm to segment moving vehicles from the input sequence. Second, a preprocessing technique using the geometric characteristics of vehicles is employed to exclude non-vehicle objects. Then, the detected vehicles are tracked by an object tracker which incorporates histogram tracking method with Kalman filter. To make the tracking results more accurate, histogram tracking results are used as measurement data for Kalman filter. Finally, Real Stop Counter (RSC) is introduced for trustworthy and accurate performance of the stopped vehicle detection. Experimental results show that the proposed algorithm can track multiple vehicles simultaneously and detect stopped vehicles successfully in the complicated street environment.

• The Journal of Korean Institute of Communications and Information Sciences
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• 제37권5B호
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• pp.370-376
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• 2012

The CSS(Chirp Spread Spectrum) technology is used for developing various WPAN(Wireless Personal Area Network) application fields in general, and it can be adapted to implement localization systems especially using SDS-TWR(Symmetric Double Sided - Two Way Ranging). But the ranging errors are occurred in many practical applications due to some interferences by some experiments. Thus, the compensation algorithm for localization is required for developing localization applications. The suggested compensation algorithm that is named KF_EDR(Kalman Filter and Equivalent Distance Rate) for localization in order to reduce the ranging errors is suggested in this paper. The KF_EDR compensation algorithm for localization is mainly composed of the AEDR(Algorithm of Equivalent Distance Rate) and the Kalman Filter. It is confirmed that the improved error ratio of the KF_EDR are 10.5% and 4.2% compared with the AEDR algorithm in lobby and stadium. From the results, it is analyzed that the KF_EDR can be widely used for some localization system in ubiquitous society.