• Advances in aircraft and spacecraft science
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• v.7 no.6
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• pp.495-516
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• 2020

Nonlinear state estimation is a desirable and required technique for many situations in engineering (e.g., aircraft/spacecraft tracking, space situational awareness, collision warning, radar tracking, etc.). Due to high standards on performance in these applications, in the last few decades, there was an increasing demand for methods that are able to provide more accurate results. However, because of the mathematical complexity introduced by the nonlinearities of the models, the nonlinear state estimation uses techniques that, in practice, are not so well-established which, leads to sub-optimal results. It is important to take into account that each method will have advantages and limitations when facing specific environments. The main objective of this paper is to provide a comprehensive overview and interpretation of the most well-known methods for nonlinear state estimation with Gaussian priors. In particular, the Kalman filtering methods: EKF (Extended Kalman Filter), UKF (Unscented Kalman Filter), CKF (Cubature Kalman Filter) and EnKF (Ensemble Kalman Filter) with an aerospace perspective.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.3
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• pp.329-334
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• 2011

This paper presents the method for location estimation with obstacle tracking method. A laser scanner is used to implement the system, and we assume that the map information is known. We matches the measurement of the laser scanner to estimate the location of the robot by using sequential monte carlo (SMC) method. After estimating the robot's location, the pose of obstacles are detected and tracked, hence, we can predict the collision risk of them. Finally, we present the experiment results to verify the proposed method.

• Journal of Korean Society of Transportation
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• v.26 no.5
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• pp.51-62
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• 2008

An innovative feature of this study is to propose a methodology for evaluating safety performance in real time based on vehicle trajectory data extracted from video images. The essence of evaluating safety performance is to capture unsafe car-following and lane-changing events generated by individual vehicles traveling within video surveillance area. The proposed methodology derived three indices including real-time safety index(RSI) based on the concept of safe stopping distance, time-to-collision(TTC), and the collision energy based on the conservation of momentum. It is believed that outcomes would be greatly utilized in developing a new generation of video images processing(VIP) based traffic detection systems capable of producing safety performance measurements. Relevant technical challenges for such detection systems are also discussed.

• Journal of Navigation and Port Research
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• v.40 no.5
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• pp.241-247
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• 2016

The tracking filter plays a key role in the accurate estimation and prediction of maneuvering a vessel's position and velocity when attempting to enhance safety by avoiding collision. Therefore, in order to achieve accurate estimation and prediction, many oceangoing vessels are equipped with the Automatic Radar Plotting Aid (ARPA) system. However, the accuracy of prediction depends on the tracking filter's ability to reduce noise and maintain a stable transient response. The purpose of this paper is to derive the optimal values of the gain parameters used in tracking a High Dynamic Warship. The algorithm employs a ${\alpha}-{\beta}-{\gamma}$ filter to provide accurate estimates and updates of the state variables, that is, positions, velocity and acceleration of the high dynamic warship based on previously observed values. In this study, the filtering coefficients ${\alpha}$, ${\beta}$ and ${\gamma}$ are determined from set values of the damping parameter, ${\xi}$. Optimization of the damping parameter, ${\xi}$, is achieved experimentally by plotting the residual error against different values of the damping parameter to determine the least value of the damping parameter that results in the optimum smoothing coefficients leading to a reduction in the noise corruption effect. Further investigation of the performance of the filter indicates that optimal smoothing coefficients depend on the initial and average velocity of the target.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.2
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• pp.235-240
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• 2015

Active Safety system is requested on the market of the medium and heavy duty commercial vehicle over 4.5ton beside the market of passenger car with advancement of the digital equipment proportionally. Unlike the passenger car, the mounting position of camera in case of the medium and heavy duty commercial vehicle is relatively high, it is disadvantaged conditions for lane recognition in contradiction to passenger car. In this work, we show the method of lane recognition through the Sobel edge, based on the spatial domain processing, Hough transform and color conversion correction. Also we suggest the low error method of front vehicles recognition in order to reduce the detection error through Haar-like, Adaboost, SVM and Template matching, etc., which are the object recognition methods by frontal camera vision. It is verified that the reliability over 98% on lane recognition is obtained through the vehicle test.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.9
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• pp.771-780
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• 2021

The space Debris laser ranging system is called to be a definite type of satellite laser ranging system that measures the distance to satellites. It is a system that performs POD (Precise Orbit Determination) by measuring time of flight by firing a laser. Distance precision can be measured in mm-level units, and it is the most precise system among existing systems. Currently, KASI has built SLR in Sejong and Geochang, and utilized SLR data to verify the precise orbits of the STSAT-2C and KOMASAT-5. In recent years, due to the fall or collision of space debris, its satellites have been threatened, and in terms of security, laser tracking of space objects is receiving great interest in order to protect their own space assets and protect the safety of the people. In this paper, a 1.5m-class main mirror was applied for the system design of a multipurpose laser tracking system that considers satellite laser ranging and space object laser tracking. System preliminary performance analysis was performed based on Link Budget analysis considering specifications of major components.

• Advances in robotics research
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• v.2 no.2
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• pp.161-182
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• 2018

This paper proposes a novel receding horizon control (RHC) algorithm for formation control of a swarm of unmanned surface vehicles (USVs) using particle swarm optimization (PSO). The proposed control algorithm provides the coordinated path tracking of multi-agent USVs while preventing collisions and considering external disturbances such as ocean currents. A three degrees-of-freedom kinematic model of the USV is used for the RHC with guaranteed stability and convergence by incorporating a sequential Monte Carlo (SMC)-based particle initialization. An ocean current model-based estimator is designed to compensate for the effect of ocean currents on the USVs. This method is compared with the PSO-based RHC algorithms to demonstrate the performance of the formation control and the collision avoidance in the presence of ocean currents through numerical simulations.

• Journal of Ocean Engineering and Technology
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• v.35 no.5
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• pp.369-381
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• 2021

The International Ice Patrol (IIP) was established after the Titanic collided with an iceberg off the eastern coast of Canada in 1912 and sank, killing more than 1,500 people. Recently, the IIP has analyzed satellite images and provided safe operation information to vessels by tracking the occurrence and movement of icebergs. A large number of recent arctic studies mainly deal with sea ice formed by freezing seawater related to sea routes and resource development. The iceberg that collided with the Titanic was land-based ice that dislodged from a glacier and fell into the sea. The properties of these two types of ice are different. In addition, vessels operating in ice-covered waters such as the Arctic sea have an ice-breaking function or minimum ice-strengthened functions. Ships operating on transatlantic routes including the eastern coast of Canada do not necessarily require ice-strengthened functions. Hundreds to thousands of icebergs are discovered each year near the area where the Titanic sank. In this study, the status of ship-iceberg collision accidents was investigated to provide useful information to researchers, and the physical and mechanical characteristics of icebergs were investigated and summarized.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.8 no.8
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• pp.1732-1739
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• 2004

In this paper, we proposed a visualization system with ANN algorithm that traits the motion of particles that move colliding in the water, where we got a great deal of variable information and predicts the distribution of particles according to the flowing of water and the pattern of their precipitation. We adopted ART2 to detect sensitively the collision between particles in this visualzation. Various particles and their mutual collision influencing the force such as buoyancy force, gravitational force, and the pattern of precipitation are considered in this system. Flowing particles whose motion is changed with the environment can be visualized in the system presented here as they are in real water.

• Journal of Internet Computing and Services
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• v.14 no.4
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• pp.25-33
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• 2013

The procedure of the arbitration which is the tag collision is essential because the multiple tags response simultaneously in the same frequency to the request of the Reader. This procedure is known as Anti-collision and it is a key technology in the RFID system. In this paper, we propose the 4-Bit Pattern Slot Allocation(4-BPSA) algorithm for the high-speed identification of the multiple tags. The proposed algorithm is based on the tree algorithm using the time slot and identify the tag quickly and efficiently through accurate prediction using the a slot as a 4-bit pattern according to the slot allocation scheme. Through mathematical performance analysis, We proved that the 4-BPSA is an O(n) algorithm by analyzing the worst-case time complexity and the performance of the 4-BPSA is improved compared to existing algorithms. In addition, we verified that the 4-BPSA is performed the average 0.7 times the query per the Tag through MATLAB simulation experiments with performance evaluation of the algorithm and the 4-BPSA ensure stable performance regardless of the number of the tags.