• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.5
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• pp.66-72
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• 1997

In this paper, we propose a method improving the accuracy of th eregistration coefficients calculated form two range images considering the measurement error. The employed range finder is based on triangulation and the depth measurement error is described with an error covariance matrix, which is based on thesensitivity of the range measurements. Experimental results demonstrate that the registration coefficients obtained with the proposed method are better than the results when the measurment errors are neglected.

• Journal of applied mathematics & informatics
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• v.8 no.1
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• pp.231-242
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• 2001

We showed in [2] that if r≤2, zero mean Gaussian of average error of the Trapezoidal rule is proportional to h/sub i//sup 2r+3/ on the interval [0,1]. In this paper, if r≥3, we show that zero mean Gaussian of average error of the Trapezoidal rule is bounded by Ch⁴/sub i/h⁴/sub j/.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.131-135
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• 1991

A quantization error model is suggested for analog to frequency(A/F) converter in strapdown inertial navigation system(SDINS),which is characterized by some white noise exciting the state variables. Also, effects on the performance of SDINS by analog to digital(A/D) converter and A/F converter are analyzed and compared via covariance simulation. As a result, A/F converter turns out to be superior to the A/D converter with respect to the induced navigation error and the difficulty in circuit realization. The quantization error model developed in this paper appears to be useful for optimal filter design.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.70-75
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• 1993

The performance of the BEWE(Bearing Estimation Without Eigendecomposition) algorithm depends on the sensor outputs which are selected to construct the projection matrix. In this paper, we construct the covariance matrix of the bearing estimates for two targets and propose the criterion to select the sensor outputs which minimize the covariance matrix. The computer simulation conforms that the estimation error is smallest when the sensor outputs are selected based on the proposed criterion.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.834-838
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• 1992

Tracking performance depends on the quantity of the measurement data. In the Kalman-Bucy filter and other trackers, this dependence is well understood in terms of the measurement noise covariance matrix, which specifies the uncertainty in the value of measurement inputs. In this paper, we derived approximated error covariance matrix to evaluate the dependence of target detection probability and false alarm probability in the presence of uncertainty of measurement origin.

• The Korean Journal of Financial Management
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• v.12 no.2
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• pp.207-219
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• 1995

This paper develops an equilibrium asset pricing model with taxation in the economy. The expected excess rate of return on a risky asset is shown to be an increasing function of the covariance of asset return with aggregate consumption rate changes and the covariance of asset return with the tax rates as well. Thus, the expected execss rate of return can be decomposed as the consumption risk premium and the tax premium. The capital asset pricing model derived in the absence of taxes is shown to understate the expected excess rate of return and to have a misspecification error in the economy with taxation.

• Journal of Astronomy and Space Sciences
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• v.36 no.4
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• pp.249-264
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• 2019

In this study, the precise orbit determination (POD) software is developed for optical observation. To improve the performance of the estimation algorithm, a nonlinear batch filter, based on the unscented transform (UT) that overcomes the disadvantages of the least-squares (LS) batch filter, is utilized. The LS and UT batch filter algorithms are verified through numerical simulation analysis using artificial optical measurements. We use the real optical observation data of a low Earth orbit (LEO) satellite, Cryosat-2, observed from optical wide-field patrol network (OWL-Net), to verify the performance of the POD software developed. The effects of light travel time, annual aberration, and diurnal aberration are considered as error models to correct OWL-Net data. As a result of POD, measurement residual and estimated state vector of the LS batch filter converge to the local minimum when the initial orbit error is large or the initial covariance matrix is smaller than the initial error level. However, UT batch filter converges to the global minimum, irrespective of the initial orbit error and the initial covariance matrix.

• Journal of Korea Multimedia Society
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• v.18 no.7
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• pp.886-894
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• 2015

In this paper, we conduct sensitivity analysis of parameters used for inverse modeling in order to estimate the PM₁₀ emissions from the 16 areas in East Asia accurately. Parameters used in sensitivity analysis are R, the observational error covariance matrix, and B, a priori (background) error covariance matrix. In previous studies, it was used with the predetermined parameter empirically. Such a method, however, has difficulties in estimating an accurate emissions. Therefore, an automatically determining method for the most suitable value of R and B with an error measurement criteria and posteriori emissions accuracy is required. We determined the parameters through a sensitivity analysis, and improved the accuracy of posteriori emissions estimation. Inverse modeling methods used in the emissions estimation are pseudo inverse, NNLS (Nonnegative Least Square), and BA(Bayesian Approach). Pseudo inverse has a small error, but has negative values of emissions. In order to resolve the problem, NNLS is used. It has a unrealistic emissions, too. The problems are resolved with BA(Bayesian Approach). We showed the effectiveness and the accuracy of three methods through case studies.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.3
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• pp.243-248
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• 2010

This study addresses spacecraft moment of inertial estimation approach using Modified Rodrigues Parameters(MRP). The MRP offer advantage by avoiding singularity in Kalman Filter design for attitude determination caused by the norm constraint of quaternion parameters. Meanwhile, MRP may suffer singularity for large angular displacement, so that we designed appropriate reference attitude motion for accurate estimation. The proposed approach is expected to provide stable error covariance update with accurate spacecraft mass property estimation results.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.5
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• pp.507-512
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• 2007

This paper presents a tracking filter with ship's motion compensation for a ship-borne radar tracking system. The ship's maneuver is described by displacement and rotational motions in the ship-centered east-north frame. The first order Taylor series approximation of the measurement error covariance of the converted measurement is derived in the ship-centered east-north frame. The ship's maneuver is compensated by incorporating the measurement error covariance of the converted measurement and displacement of the position state in the tracking filter. The simulation results via 500 Monte-Carlo runs show that the proposed method follows the target successfully and provides consistent tracking performance during ship's maneuvers while the conventional tracking filter without ship motion compensation fails to track during such periods.