• ETRI Journal
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• 제42권1호
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• pp.108-117
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• 2020

This study proposes a robust range-only beacon mapping method for registering the locations of range-only beacons automatically. The proposed method deals with the multipath propagation of signals from range-only beacons using the range-only measurement association (RoMA) and an unscented Kalman filter (UKF). The RoMA initially predicts the candidate positions of a range-only beacon. The location of the range-only beacon is then updated using the UKF. With the proposed method, the locations of range-only beacons are accurately estimated in a multipath environment. The proposed method also provides the location uncertainty of each range-only beacon. Simulation results using the model for multipath propagation and experimental results in a real indoor environment verify the performance of the proposed method.

• Journal of information and communication convergence engineering
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• 제10권4호
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• pp.390-395
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• 2012

This paper describes an implementation of automatic mutual localization of swarm robots using a particle filter. Each robot determines the location of the other robots using wireless sensors. The measured data will be used for determination of the movement method of the robot itself. It also affects the other robots' self-arrangement into formations such as circles and lines. We discuss the problem of a circle formation enclosing a target that moves. This method is the solution for enclosing an invader in a circle formation based on mutual localization of the multi-robot without infrastructure. We use trilateration, which does require knowing the value of the coordinates of the reference points. Therefore, specifying the enclosure point based on the number of robots and their relative positions in the coordinate system. A particle filter is used to improve the accuracy of the robot's location. The particle filter is operates better for mutual location of robots than any other estimation algorithms. Through the experiments, we show that the proposed scheme is stable and works well in real environments.

• Journal of Positioning, Navigation, and Timing
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• 제9권3호
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• pp.273-284
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• 2020

The performance of Global Navigation Satellite System (GNSS) chipset and Inertial Measurement Unit (IMU) sensors embedded in smartphones for location-based services (LBS) is limited due to the economic reasons for their mass production. Therefore, it is necessary to efficiently process the output data of the smartphone's embedded sensors in order to derive the optimum navigation values and, as a previous step, output performance of smartphone embedded sensors needs to be verified. This paper analyzes the navigation performance of such devices by processing the raw measurements data output from smartphones. For this, up-to-dated versions of smartphones provided by Samsung (Galaxy s10e) and Xiaomi (Mi 8) are used in the test experiment to compare their performances and characteristics. The GNSS and IMU data are extracted and saved by using an open market application software (Geo++ RINEX Logger & Mobile MATLAB), and then analyzed in post-processing manner. For GNSS chipset, data is extracted from static environments and verified the position, Carrier-to-Noise (C/N₀), Radio Frequency Interference (RFI) performance. For IMU sensor, the validity of navigation and various location-based-services is predicted by extracting, storing and analyzing data in static and dynamic environments.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제5권9호
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• pp.1684-1697
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• 2011

We show that two protocols for RFID mutual authentication in pervasive computing environments, recently proposed by Kang et al, are vulnerable to several attacks. First, we show these protocols do not preserve the privacy of users' location. Once a tag is authenticated successfully, we show several scenarios where legitimate or illegitimate readers can trace the location of that tag without any further information about the tag's identifier or initial private key. Second, since the communication between readers and the database takes place over an insecure communication channel and in the plaintext form, we show scenarios where a compromised tag can gain access to confidential information that the tag is not supposed get access to. Finally, we show that these protocols are also vulnerable to the replay and denial-of-service attacks. While some of these attacks are due to simple flaws and can be easily fixed, others are more fundamental and are due to relaxing widely accepted assumptions in the literature. We examine this issue, apply countermeasures, and re-evaluate the protocols overhead after taking these countermeasures into account and compare them to other work in the literature.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 제39회 하계학술대회
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• pp.1893-1894
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• 2008

Advances in hardware and wireless network technologies have placed us at the doorstep of a new era where small wireless devices will provide access to information anytime, anywhere as well as actively participate in creating smart environments. In this paper, we propose location-aware clustering method in wireless sensor networks. Previous clustering algorithm assumes that all nodes know its own location by GPS. But, it is unrealistic because of GPS module cost and large energy consumption. So, we operate localization ahead of cluster set-up phase. And Considering node density and geographic information, Cluster Heads are elected uniformly. Moreover, communication between CHs is prolonged network lifetime.

• 전기학회논문지
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• 제59권11호
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• pp.2058-2065
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• 2010

This paper presents the sensor location and step estimation algorithm for personal navigation system (PNS). PNS has the disadvantage in that the position of the sensor must be fixed on a human body. Three-axis acceleration sensor is used to solve the disadvantage and to consider the real situation. We simplify the measurement data by using the band pass filter, witch It has the advantage in the detection of characteristic point. Through the detected characteristic points, it is possible to setup the parameter for the pattern detection. Depending on the sensor location, the parameters have the different type of noise covariance. Particularly, when the position of the sensor is changed, the impulse noise shows up. Considering the noise, we apply the recursive least square algorithm using the variable forgetting factors, which can classify the sensor location based on the estimated parameters. We performed the experiment for the verification of the proposed algorithm in the various environments. Through the experimental results, the effectiveness of the proposed method is verified.

• 한국환경보건학회지
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• 제33권3호
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• pp.180-183
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• 2007

Over the last century the mercury (Hg) concentration in the environment has been increased by human activities with inputs from sources such as atmospheric deposition, urban runoff, and industrial effluents. Mercury can be transformed to methylmercury (MeHg) in anaerobic conditions by sulfate reducing bacteria (SRB) and sediments are the principal location for MeHg production in aquatic environments. Interest in bioaccumulation of Hg and MeHg into lower trophic levels of benthic and pelagic organisms stems from public health concerns as these organisms provide essential links for higher trophic levels of food chains such as fish and larger invertebrates. Fish consumption is the major exposure route of MeHg to humans. Recently, it was reported that blood samples in Korea showed much higher Hg levels (5-8 times) than those in USA and Germany. Although this brings much attention to Hg research in Korea, there are very few studies on Hg biogeochemical cycling and bioaccumulation in aquatic environments. Given the importance of Hg methylation and MeHg transfer through food chains in aquatic environments, it is imperative that studies should be done in much detail looking at the fate, transport, and bioaccumulation of Hg and MeHg in the environment. Moreover, there should be long-term monitoring plans in Korea to evaluate the environmental and health effects of Hg and MeHg.

• 제어로봇시스템학회논문지
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• 제20권11호
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• pp.1098-1102
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• 2014

Localization of aerial vehicles and map building of flight environments are key technologies for the autonomous flight of small UAVs. In outdoor environments, an unmanned aircraft can easily use a GPS (Global Positioning System) for its localization with acceptable accuracy. However, as the GPS is not available for use in indoor environments, the development of a SLAM (Simultaneous Localization and Mapping) system that is suitable for small UAVs is therefore needed. In this paper, we suggest a vision-based SLAM system that uses vision sensors and an AHRS (Attitude Heading Reference System) sensor. Feature points in images captured from the vision sensor are obtained by using GPU (Graphics Process Unit) based SIFT (Scale-invariant Feature Transform) algorithm. Those feature points are then combined with attitude information obtained from the AHRS to estimate the position of the small UAV. Based on the location information and color distribution, a Gaussian process model is generated, which could be a map. The experimental results show that the position of a small unmanned aircraft is estimated properly and the map of the environment is constructed by using the proposed method. Finally, the reliability of the proposed method is verified by comparing the difference between the estimated values and the actual values.

• The Journal of the Acoustical Society of Korea
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• 제27권3E호
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• pp.104-111
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• 2008

Recently, a method for robust time reversal focusing has been introduced to extend the period of stable focusing in time-dependent ocean environments [S. Kim et al., J. Acoust. Soc. Am. 114, 145-157, (2003)]. In this study, concept of focal-size broadening based on waveguide invariant theory in an ocean time reversal acoustics is described. It is achieved by imposing the multiple location constraints. The signal vector used in multiple location constraints are found from the theory on waveguide invariant for frequency band corresponding the extended focal range. The broadening of foci in an ocean waveguide can play an important role in the application of time reversal processing, particularly to the underwater acoustic communication with moving vehicles. The proposed method is demonstrated in the context of the underwater acoustic communication from the transmit/receive array (TRA) to a slowly moving vehicle.

• 한국IT서비스학회지
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• 제9권3호
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• pp.145-161
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• 2010

Recently, identifying user locations is becoming important as the society evolves into an ubiquitous society with the innovation of information technology. Particularly, many researches on identifying user locations are headed in direction to identify locations of users in the indoors, because a GPS that is widely used to identify the locations of users in the outdoors is inapplicable in the indoors. However, those researches are mostly not useful to general indoor environment because they are performed in a specific environment with specialized or customized devices such as UWB, RFID. Therefore, in this paper we propose a effective method to identify user locations in general indoor environments with wireless local network access points. Our approach enables to identify user location efficiently by measuring signal power of access points around the user and using the FRIIS formula which is used to calculate the distance among the things.