• The Journal of the Korea Contents Association
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• v.20 no.6
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• pp.99-113
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• 2020

In the future, robots and drones for the convenience of our lives in everyday life will increase. As a method for controlling this, a remote control or a human voice method is most commonly used. However, the remote control needs to be operated by a person and can not ignore ambient noise in the case of voice. In this paper, we propose an economical attitude information acquisition method to accurately acquire the posture information of the arm in real time under the assumption that the surround drones or robots can be controlled wirelessly with the posture information of the arm. For this purpose, the extended Kalman filter was used to eliminate the noise of the arm position information. in order to detect the arm movement, a low cost MEMS type sensor was applied to secure the economical efficiency of the apparatus. To increase the wear ability of the arm, We developed a compact and lightweight attitude information acquisition system by integrating all functions into one chip as much as possible. As a result, the real-time performance of 1 ms was secured and the extended Kalman filter was applied to acquire the accurate attitude information of the arm with noise removed and display the attitude information of the arm in real time. This provides a basis for generating commands using real-time attitude information of the arm.

• Bulletin of the Korean Space Science Society
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• 1996.11a
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• pp.14-14
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• 1996

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.11
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• pp.1681-1690
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• 2013

In this paper, a design of speed and position controller based on the EKF(Extended Kalman Filter) for sensorless control in IPMSM(Interior Permanent Magnet Synchronous Motor) is proposed. The proposed method subdivides the state estimation interval for improving the accuracy of state estimation. and each subdivided interval estimated first order term using Taylor series. The proposed state estimator comparison with the second-order extended Kalman filter reduced calculation amount of a priori estimation. And the simulation results were proved that The accuracy of priori estimation is increased.

• The Journal of Society for e-Business Studies
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• v.13 no.4
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• pp.1-16
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• 2008

LBS (Location Based Service) cannot be realized unless we can obtain the user's current location. Therefore, in order to realize indoor LBS, many researchers have been working on WLAN (Wireless Local Area Network) based indoor positioning and tracking. Meanwhile, Kalman filter has been widely used in the field of GPS based outdoor user tracking. The main purpose of this paper is proposing an extended Kalman filter method for indoor tracking. Our experimental results show that Kalman filter can be used to improve the accuracy of the measured tracks and the track can be further improved by making use of the map information.

• Proceedings of the Korea Information Processing Society Conference
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• 2018.05a
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• pp.460-461
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• 2018

본 논문에서는 기존의 단일입출력 환경에서의 칼만필터 기반 반향제거방법을 다중입출력 구조로 확장하는 방법을 제안한다. 다중입출력 구조의 반향제거방법은 단일입출력방식보다 우수한 반향제거 성능을 보이면서도 더욱 낮은 음성왜곡도를 보였다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.10
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• pp.853-861
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• 2016

This paper deals with a new technique utilizing the angular speed of the reaction wheels to determine attitudes and angular rates for gyroless satellites. The suggested algorithm in this study is designed to determine the precise attitude and angular rates under actual space environments by the support of the angular speeds of reaction wheels based on the extended Kalman filter. Furthermore, the proposed approach is also designed to estimate not only the attitude and angular rates of spacecraft but the external disturbances. The numerical simulation was conducted for gyloless spacecraft installed with four reaction wheels of the pyramid-type configuration. The performance of the proposed algorithm is verified by using numerical simulations.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.7
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• pp.673-683
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• 2010

This study investigates Terrain Aided Inertial Navigation(TAIN) which consists of Inertial Navigation System (INS) with the optical sensor for precise planetary landing. Image processing is conducted to extract the feature points between measured terrain data and on-board implemented terrain information. The navigation algorithm with Iterated Extended Kalman Filter(IEKF) can compensate for the navigation error, and provide precise navigation information compared to single INS. Simulation results are used to demonstrate the feasibility of integration to accomplish precise planetary landing. The proposed navigation approach can be implemented to the whole system coupled with guidance and control laws.

• Journal of Ocean Engineering and Technology
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• v.31 no.1
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• pp.28-35
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• 2017

This paper introduces a GPS-aided dead reckoning algorithm that asymptotically estimates the heading bias error of a magnetic compass based on geodetic north, improves the position error accumulated by dead reckoning, and helps the estimated position of an AUV to represent a position in the NED coordinate system, by receiving GPS position information when surfaced. Based on the results of a simulation, the locational error was bounded with a modest distance, after estimating the AUV position and heading bias error of the magnetic compass when surfaced. In other words, it was verified that proposed algorithm improves the position error in the NED coordinate system.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.4
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• pp.461-467
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• 2009

Relative positioning technique by GPS that can obtain the high positioning accuracy has been used for generation of high precision positioning with elimination or the reduction of the common errors. This paper gives some algorithms for RTK and considers the filter to estimate the positioning information and integer ambiguities at each epoch in the whole algorithms. The extended kalman filter has been employed to estimate the state parameters and the modified LAMBDA to resolve the integer ambiguities. The data processing was performed by GPS single frequency and dual frequency in short baseline. The verification procedure of these positioning compared with results from Bernese 5.0 software. We presented some statistic values on positioning errors and the rates of integer ambiguity resolution.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.10
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• pp.1989-1996
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• 2002

Extended Kalman Filter(EKF) is used to estimate friction and spring characteristics on the swash plate of a variable displacement pump. In earlier studies, the feasibility of the approach was established using simulation studies to establish limits of accuracy for the EKF approach when it was applied to an ideal situation. In this study, the EKF is applied to an experimental system and the issue of re liability in estimation of certain pump parameters is addressed. In addition, an approach to assign values to accommodate convergence of the EKF is considered. A special experimental system was set up to facilitate the measurement of certain states to enhance the EKF approach. Estimated parameters show ed some scatter about a specified operating point but in general, were reasonably repeatable. The study also showed that changes in the system parameters could be accurately tracked.