• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.05a
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• pp.141-148
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• 2003

This paper presents a rotating ann test for assessment of an underwater hybrid navigation system for a semi-autonomous underwater vehicle. The navigation system consists of an inertial measurement unit (IMU), an ultra-short baseline (USBL) acoustic navigation sensor and a doppler velocity log (DVL) accompanying a magnetic compass. The errors of inertial measurement units increase with time due to the bias errors of gyros and accelerometers. A navigational system model is derived to include the error model of the USBL acoustic navigation sensor and the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 25 in the order. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors and correct the state equation when the measurements are available. The rotating ann tests are conducted in the Ocean Engineering Basin of KRISO, KORDI to generate circular motion in laboratory, where the USBL system was absent in the basin. The hybrid underwater navigation system shows good tracking performance against the circular planar motion. Additionally this paper checked the effects of the sampling ratio of the navigation system and the possibility of the dead reckoning with the DVL and the magnetic compass to estimate the position of the vehicle.

• Journal of Ocean Engineering and Technology
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• v.18 no.4 s.59
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• pp.33-39
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• 2004

This paper presents a hybrid underwater navigation system for unmanned underwater vehicles, using an additional range sonar, where the navigation system is based on inertial and Doppler velocity sensors. Conventional underwater navigation systems are generally based on an inertial measurement unit (IMU) and a Doppler velocity log (DVL), accompanying a magnetic compass and a depth sensor. Although the conventional navigation systems update the bias errors of inertial sensors and the scale effects of DVL, the estimated position slowly drifts as time passes. This paper proposes a measurement model that uses the range sonar to improve the performance of the IMU-DVL navigation system, for extended operation of underwater vehicles. The proposed navigation model includes the bias errors of IMU, the scale effects of VL, and the bias error of the range sonar. An extended Kalman filter was adopted to propagate the error covariance, to update the measurement errors, and to correct the state equation, when the external measurements are available. To illustrate the effectiveness of the hybrid navigation system, simulations were conducted with the 6-d.o.f. equations of motion of an AUV in lawn-mowing survey mode.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.23 no.12
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• pp.1624-1630
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• 2019

With the increase in there are smart devices penetration around the world, services related to exercise checks are attracting attention. However, there is existing exercise amount measurement service does not use the altitude information, or because the use of an algorithm that does not corrected the GPS altitude error is not accurate movement distance provided have a problem. Therefore, in this paper, to improve the existing problems, Kalman-filter-based user movement distance measurement algorithm is designed and implementation of improved by using the Kalman-filter based GPS and barometric altimeter sensor fusion algorithm to improve the altitude value the accuracy and of calculate the coordinate plane distance. As a result of comparing the designed and implementation of algorithm with the existing algorithms, it is confirmed that the proposed algorithm improves the accuracy by about 2.17%.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.27 no.1
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• pp.103-108
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• 2023

We study the problem of selecting a subset of sensor nodes in sensor networks in order to maximize the performance of parameter estimation. To achieve a low-complexity sensor selection algorithm, we propose a greedy iterative algorithm that allows us to select one sensor node at a time so as to maximize the log-determinant of the inverse of the estimation error covariance matrix without resort to direct minimization of the estimation error. We apply QR factorization to the observation matrix in the log-determinant to derive an analytic selection rule which enables a fast selection of the next node at each iteration. We conduct the extensive experiments to show that the proposed algorithm offers a competitive performance in terms of estimation performance and complexity as compared with previous sensor selection techniques and provides a practical solution to the selection problem for various network applications.

• The Korean Journal of Applied Statistics
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• v.37 no.1
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• pp.61-72
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• 2024

The purpose of this study is to investigate retest reliabilities in longitudinal study, the same test is administered repeatedly over time. Linear mixed models were used to establish various situations of tests occurred in longitudinal study. Combination of two types of true value and three types of systematic error was considered. In order to apply the models to real longitudinal data, height data from the Berkeley growth study and vocabulary score data from the University of Chicago experimental school were used. Using the mixed model, there is an advantage that the reliability can be determined by selecting the covariance structure of the true value and the error separately. However, in order to properly analyze the reliability, researchers need to consider variations that can occur in measurement, such as characteristics of subject, the test, and the the treatment applied in the study. And the proper model should be selected and the quality of the measurement should be evaluated for each trial.

• International Journal of Aeronautical and Space Sciences
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• v.14 no.1
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• pp.85-90
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• 2013

This paper presents a study on terrain referenced navigation (TRN). The extended Kalman filter (EKF) is adopted as a filter method. A Jacobian matrix of measurement equations in the EKF consists of terrain slope terms, and accurate slope estimation is essential to keep filter stability. Two slope estimation methods are proposed in this study. Both methods are based on the least-squares approach. One is planar regression searching the best plane, in the least-squares sense, representing the terrain map over the region, determined by position error covariance. It is shown that the method could provide a more accurate solution than the previously developed linear regression approach, which uses lines rather than a plane in the least-squares measure. The other proposed method is weighted planar regression. Additional weights formed by Gaussian pdf are multiplied in the planar regression, to reflect the actual pdf of the position estimate of EKF. Monte Carlo simulations are conducted, to compare the performance between the previous and two proposed methods, by analyzing the filter properties of divergence probability and convergence speed. It is expected that one of the slope estimation methods could be implemented, after determining which of the filter properties is more significant at each mission.

• Asian-Australasian Journal of Animal Sciences
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• v.5 no.4
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• pp.623-628
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• 1992

Records on weaning (3803) and yearling weight (2990) of beef cattle (Bibos banteng) from the Bali Cattle Improvement Project were examined. A mixed model analysis involving all main non-genetic effects (village, year of birth, season of birth, age of dam, sex of calf, all significant interactions and age at weighing as a covariate) as fixed effects and sire nested within village as a random effect was undertaken. Variance components were estimated by Henderson's Method III. Paternal half-sib components of variance and covariance were used to estimate heritabilities of weaning and yearling weights, as well as their genetic and phenotypic correlations. Heritability estimates ($\pm$ standard error) obtained by Henderson's Method III for weaning and yearling weights were $.11{\pm}.03$ and $.13{\pm}.04$, respectively while the phenotypic and genetic correlations were estimated as .32 and $.64{\pm}.10$, respectively. The parameters estimated in this study were at the lower end of the range of reported values from various breeds. It is concluded that further information should be gathered to assist in estimating genetic parameters for other economic traits of Bali beef cattle and to provide more accurate estimates for weaning and yearling weights. These parameters should then be used to formulate a selection program to enable the genetic improvement of Bali Beef cattle.

• Phonetics and Speech Sciences
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• v.1 no.4
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• pp.127-132
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• 2009

The feature vectors which are used in conventional speaker recognition (SR) systems may have many correlations between their neighbors. To improve the performance of the SR, many researchers adopted linear transformation method like principal component analysis (PCA). In general, the linear transformation of the feature vectors is based on concatenated form of the static features and their dynamic features. However, the linear transformation which based on both the static features and their dynamic features is more complex than that based on the static features alone due to the high order of the features. To overcome these problems, we propose an efficient method that applies linear transformation and temporal information of the features to reduce complexity and improve the performance in speaker verification (SV). The proposed method first performs a linear transformation by PCA coefficients. The delta parameters for temporal information are then obtained from the transformed features. The proposed method only requires 1/4 in the size of the covariance matrix compared with adding the static and their dynamic features for PCA coefficients. Also, the delta parameters are extracted from the linearly transformed features after the reduction of dimension in the static features. Compared with the PCA and conventional methods in terms of equal error rate (EER) in SV, the proposed method shows better performance while requiring less storage space and complexity.

• Proceedings of the Korea Water Resources Association Conference
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• 2009.05a
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• pp.2161-2166
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• 2009

It is important for 0-6 hour nowcasting to provide for a high-quality initial condition in a meso-scale atmospheric model by a data assimilation of several observation data. The polarimetric radar data is expected to be assimilated into the forecast model, because the radar has a possibility of measurements of the types, the shapes, and the size distributions of hydrometeors. In this paper, an impact on rainfall prediction of the data assimilation of hydrometeor types (i.e. raindrop, graupel, snowflake, etc.) is evaluated. The observed information of hydrometeor types is estimated using the fuzzy logic algorism. As an implementation, the cloud-resolving nonhydrostatic atmospheric model, CReSS, which has detail microphysical processes, is employed as a forecast model. The local ensemble transform Kalman filter, LETKF, is used as a data assimilation method, which uses an ensemble of short-term forecasts to estimate the flowdependent background error covariance required in data assimilation. A heavy rainfall event occurred in Okinawa in 2008 is chosen as an application. As a result, the rainfall prediction accuracy in the assimilation case of both hydrometeor types and the Doppler velocity and the radar echo is improved by a comparison of the no assimilation case. The effects on rainfall prediction of the assimilation of hydrometeor types appear in longer prediction lead time compared with the effects of the assimilation of radar echo only.

• The Journal of the Acoustical Society of Korea
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• v.14 no.3
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• pp.37-48
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• 1995

This paper presents an sstimation of ARMA coefficients of noisy ARMA system using generalized total least square (GTLS) method. GTLS problem for ARMA system is defined as minimizing the errors between the noisy output vectors and estimated noisy-free output. The GTLS problem is solved in closed form by eigen-problem and the perturbation analysis of GTLS is presented. Also its recursive solution (recursive GTLS) is proposed using the power method and the covariance formula of the projected output error vector into the input vector space. The simulation results show that GTLS ARMA coefficients estimator is an unbiased estimator and that recursive GTLS achieves fast convergence.