• The Journal of the Acoustical Society of Korea
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• v.39 no.3
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• pp.163-169
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• 2020

The asynchronous bistatic sonar needs to estimate direct blast arrival time at a receiver to localize targets, and therefore the direct blast arrival time estimation error could be added to target localization error in comparison with synchronous system. Direct blast especially appears as several peaks at the matched filter output by multipath, thus we compared the first peak detection technique and the maximum peak detection technique of those peaks for direct blast arrival time estimation through sea trial data. The test was performed in a shallow sea with bistatic sonar made up of spatially separated source and line array sensors. Line array sensors obtained the target signal which is generated from the echo repeater. As a result, the first peak detection technique is superior to maximum peak detection technique in direct blast arrival time estimation error. The result of this analysis will be used for further research of target tracking in the asynchronous bistatic sonar.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.46 no.4
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• pp.69-78
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• 2009

DV-Hop algorithm is not accurate in estimating geographic location of nodes because the average size for one hop is calculated without considering of the positioning error. In this paper, a novel algorithm based on DV-Hop algorithm is proposed for the approach to estimating the average size of a hop by minimizing anchor's positioning error using Least Square Error with other anchors. Moreover, unknown nodes have their own average size for one hop to compensate for the location error of the unknown occurring as more than the minimum hop counts to the distance. Simulation results show that the proposed algorithm has more accuracy than DV-Hop has in positioning.

• Journal of Advanced Marine Engineering and Technology
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• v.37 no.2
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• pp.213-219
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• 2013

Recently, with the rapid advancement in information and communication technology, indoor location-based services(LBSs) that require precise position tracking have been actively studied with outdoor-LBS using GPS. However, in case of a ship which consists of steel structure, it is difficult to measure a precise localization due to significant ranging error by the diffraction and refraction of radio waves. In order to reduce location measurement errors that occur in these indoor environments, this paper presents distance compensation algorithms that are suitable for a narrow passage such as ship corridors without any additional sensors by using UWB(Ultra-wide-band), which is robust to multi-path and has an error in the range of a few centimeters in free space. These improvement methods are that Pythagorean theory and adjacent node technique are used to solve the distance error due to the node deployment and distance variation analysis technique is applied to reduce the ranging errors which are significantly fluctuated in the corner section. The experimental results show that the number of nodes and the distance error are reduced to 66% and 57.41%, respectively, compared with conventional CSS(Chirp spread spectrum) method.

• ETRI Journal
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• v.38 no.4
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• pp.735-745
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• 2016

The Paris agreement at the 21st Conference of the Parties (COP21) emphasizes the reduction of greenhouse gas emissions and increase in energy consumption in all areas. Thus, an important aspect is energy saving in buildings where the lighting is a major component of the electrical energy consumption. This paper proposes a building energy management system employing visible light communication (VLC) based on LED lighting. The proposed management system has key characteristics including personalization and localization by utilizing such VLC advantages as secure communication through light and location-information transmission. Considering the efficient implementation of an energy-consumption adjustment using LED luminaires, this paper adopts variable pulse position modulation (VPPM) as a VLC modulation scheme with simple controllability of the dimming level that is capable of providing a full dimming range. This paper analyzes the VPPM performances according to variable dimming for several schemes, and proposes a VPPM demodulation architecture based on dimming-factor acquisition, which can obtain an improved performance compared to a 2PPM-based scheme. In addition, the effect of a dimming-factor acquisition error is analyzed, and a frame format for minimizing this error effect is proposed.

• Korean Journal of Remote Sensing
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• v.30 no.6
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• pp.769-776
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• 2014

It is necessary to detect the feature points existing simultaneously in both images and then find the corresponding relationship between the detected feature points. We propose a new feature detector based on geometric mean of two eigenvalues of gradient matrix which is able to measure the change of pixel intensities. The corner response of the proposed detector is proportional to the geometric mean and also the difference of two eigenvalues in the case of same geometric mean. We analyzed the localization error of the feature detection using aerial image and artificial image with various types of corners. The localization error of the proposed detector was smaller than that of the typical corner detector, Harris detector.

• Journal of Advanced Marine Engineering and Technology
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• v.38 no.2
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• pp.188-194
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• 2014

Recently, indoor localization systems based on wireless sensor networks have received a great deal of attention because they help achieve high accuracy in position determination by using various algorithms. In order to minimize the error in the estimated azimuth that can occur owing to sensor drift and recursive calculation in these algorithms, we propose a novel relative azimuth estimation algorithm. The advantages of the proposed technique in an indoor environment are that an improved weight average filter is used to effectively reduce impulse noise from the raw data acquired from nodes with inherent errors and a rotational displacement algorithm is applied to obtain a precise relative azimuth without using additional sensors, which can be affected by electromagnetic noise. Results from simulations show that the proposed filter reduces the impulse noise, and the acquired estimation error does not accumulate with time by using proposed algorithm.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.9
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• pp.2243-2250
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• 2014

In wireless sensor networks(WSNs), geographical routing algorithms can enhance the network capacity. However, in real WSNs, it is difficult for each node to know its physical location accurately. Especially, indoor environments contain various obstacles such as concrete wall, furniture which cause non-line-of-sight(NLOS) conditions. To solve the problem, we propose location error compensation algorithm by using two difference topology constructions. First topology is based on mobile node's location which is obtained from anchor nodes. Second topology is based on mutual distance from neighbor nodes. The proposed algorithm efficiently detects and corrects the location errors and significantly enhances the network performance of geographic routing in the presence of location errors.

• Proceedings of the Korea Information Processing Society Conference
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• 2010.11a
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• pp.1068-1069
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• 2010

무선센서네트워크에서 저가의 센서 필드를 구성하기 위해 센서노드의 위치 추정은 매우 중요하다. 소수의 위치를 알고 있는 센서노드인 앵커노드를 이용하여 모든 일반노드들의 위치를 알게 하는 방법으로 DRLS이 있으며, 이 기법은 이전의 기법들에 비해 상대적으로 정확한 위치 추정을 가능하게 한다. 하지만 DRLS는 이웃하는 앵커노드가 없는 일반노드의 경우 위치 추정 정확도를 심각하게 낮추는 에러 전파가 일어나는 문제점이 있다. 본 논문은 DRLS의 에러전파를 줄이기 위한 Distributed Localization for Reducing Error Propagation (DLREP)를 제안한다. DLREP는 각 일반노드들이 DRLS를 이용하여 위치 추정을 한 뒤 한 번의 추가적인 브로드캐스트를 더 수행하여 각 일반노드가 추가적인 앵커노드의 위치 정보를 얻게 한다. 그리고 이 정보를 이용하여 앵커노드 위치를 중심으로한 초기 위치의 회전을 통해 일반노드의 에러전파가 된 위치에 대한 수정을 가한다. DLREP는 위치 측정이 완료된 DRLS에 적용되어 더 정확한 센서노드의 위치 추정을 할 수 있도록 하는 진보된 위치 추정 기법이다.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.9
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• pp.1856-1864
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• 2015

In this paper, the localization algorithm for improving the accuracy of the positioning using the Wi-Fi fingerprint using the normal distribution probability and the built-in typed accelerometer sensor, the gyroscope sensor of smartphone in the indoor environment is proposed. The experiments for analyzing the performance of the proposed algorithm were carried out at the region of the horizontal and vertical 20m * 10m in the engineering school building of our university, and the performance of the proposed algorithm is compared with the fingerprint and the DR (dead reckoning) while user is moving according to the assigned region. As a result, the maximum error distance in the proposed algorithm was decreased to 2cm and 36cm compared with two algorithms, respectively. In addition to this, the maximum error distance was also less than compared with two algorithms as 16.64cm and 36.25cm, respectively. It can be seen that the fingerprint map searching time of the proposed algorithm was also reduced to 0.15 seconds compared with two algorithms.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.8
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• pp.800-808
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• 2008

This paper presents a localization algorithm of the outdoor wheeled mobile robot using the sensor fusion method based on indirect Kalman filter(IKF). The wheeled mobile robot considered with in this paper is approximated to the two wheeled mobile robot. The mobile robot has the IMU and encoder sensor for inertia positioning system and GPS. Because the IMU and encoder sensor have bias errors, divergence of the estimated position from the measured data can occur when the mobile robot moves for a long time. Because of many natural and artificial conditions (i.e. atmosphere or GPS body itself), GPS has the maximum error about $10{\sim}20m$ when the mobile robot moves for a short time. Thus, the fusion algorithm of IMU, encoder sensor and GPS is needed. For the sensor fusion algorithm, we use IKF that estimates the errors of the position of the mobile robot. IKF proposed in this paper can be used other autonomous agents (i.e. UAV, UGV) because IKF in this paper use the position errors of the mobile robot. We can show the stability of the proposed sensor fusion method, using the fact that the covariance of error state of the IKF is bounded. To evaluate the performance of proposed algorithm, simulation and experimental results of IKF for the position(x-axis position, y-axis position, and yaw angle) of the outdoor wheeled mobile robot are presented.