• 전기학회논문지
• /
• 제56권8호
• /
• pp.1476-1483
• /
• 2007

In a multi-sensor target tracking systems, the local sensors have the role of tracking the target and transferring the measurements to the fusion center. The measurements from the same target can arrive out of sequence called, the out-of-sequence measurements(OOSMs). The OOSM can arise in a form of single-lag or multi-lag throughout the transfer at the fusion center. The recursive retrodiction step was proposed to update the current state estimates with the multi-lag OOSM from the several previous papers. The real world has the possible situations that the maneuvering target informations can arrive at the fusion center with the random clutter in the possible OOSMs. In this paper, we incorporate the IMM-MPDA(Interacting Multiple Model - Most Probable Data Association) into the multi-lag OOSM update. The performance of the IMM-MPDA filter with multi-lag OOSM update is analyzed for the various clutter densities, OOSM lag numbers, and target maneuvering indexes. Simulation results show that IMM-MPDA is sufficient to be used in out of sequence environment and it is necessary to correct the current state estimates with OOSM except a very old OOSM.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제15권1호
• /
• pp.323-342
• /
• 2021

Personal health records (PHRs) is an electronic medical system that enables patients to acquire, manage and share their health data. Nevertheless, data confidentiality and user privacy in PHRs have not been handled completely. As a fine-grained access control over health data, ciphertext-policy attribute-based encryption (CP-ABE) has an ability to guarantee data confidentiality. However, existing CP-ABE solutions for PHRs are facing some new challenges in access control, such as policy privacy disclosure and dynamic policy update. In terms of addressing these problems, we propose a privacy protection and dynamic share system (PPADS) based on CP-ABE for PHRs, which supports full policy hiding and flexible access control. In the system, attribute information of access policy is fully hidden by attribute bloom filter. Moreover, data user produces a transforming key for the PHRs Cloud to change access policy dynamically. Furthermore, relied on security analysis, PPADS is selectively secure under standard model. Finally, the performance comparisons and simulation results demonstrate that PPADS is suitable for PHRs.

• 자동차안전학회지
• /
• 제14권2호
• /
• pp.70-74
• /
• 2022

This paper describes the development of a target vehicle state estimation algorithm using vehicle-to-vehicle (V2V) communication. Perceiving the state of the target vehicle has great importance for successful autonomous driving and has been studied using various sensors and methods for many years. V2V communication has advantage of not being constrained by surrounding circumstances relative to other sensors. In this paper, we adopt the V2V signal for estimating the target vehicle state. Since applying only the V2V signal is improper by its low frequency and latency, the signal is used as additional measured data to improve the estimation accuracy. We estimate the target vehicle state using Extended Kalman filter (EKF); a point mass model was utilized in process update to predict the state of next step. The process update is followed by measurement update when ego vehicle receives V2V information. The proposed study evaluated state estimation by comparing input V2V information in an experiment where the ego vehicle follows the target vehicle behind it.

• 대한임베디드공학회논문지
• /
• 제3권2호
• /
• pp.109-118
• /
• 2008

We present a robust localization algorithm using particle filter for mobile robots in a dynamic environment. It is difficult to describe moving obstacles like people or other robots on the map and the environment is changed after mapping. A mobile robot cannot estimate its pose robustly with this incomplete map because sensor observations are corrupted by un-modeled obstacles. The proposed algorithms provide robustness in such a dynamic environment by suppressing the effect of corrupted sensor observations with a selective update or a sampling from non-corrupted window. A selective update method makes some particles keep track of the robot, not affected by the corrupted observation. In a sampling from non-corrupted window method, particles are always sampled from several particle sets which use only non-corrupted observation. The robustness of proposed algorithm is validated with experiments and simulations.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
• /
• pp.689-692
• /
• 2003

In this paper, we propose an adaptive beamforming algorithm for array antenna. The proposed beamforming algorithm, based on Block LMS (Block - Least Mean Squares) algorithm, has a variable step size from coefficient update. This method shows some advantages that the convergence speed is fast and the calculation time can reduced using a block LMS algorithm from frequency domain. As the adaptive parameter approaches a stationary state, it could reduce the number of filter coefficient update with the help of various step size. In this paper we compared the efficiency of the proposed algorithm with a standard LMS algorithm which is a representative method of adaptive beamforming.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.1464-1468
• /
• 1997

We propose a decentralized state estimation method in the multisensor state estimation problem. The proposed method bounds teh maximum energy gain from uknown external disturbances to the estimation errors in the suboptimal case. And we formulate aternative H/sip .inf./ filter gain equatiions with teh idea that the suboptimal H.$^{\infty}$ filter is the special form of Kalman filter filter whose state equations are defined in indefinite inner product spaces. Using alternative filter gain equations we design the decentralized $H^{\infty}$ state estimator which is composed of local filters and central fusion filter that are suboptimal in the $H^{\infty}$ sense. In addition, the proposed update equations between global and local data can reduce unnecessary calculation burden efficently.y.

• 한국지능시스템학회논문지
• /
• 제21권4호
• /
• pp.475-480
• /
• 2011

본 논문에서는 충돌 위험도 판단 시스템을 제안한다. 먼저 칼만 필터를 이용하여 보행자의 정보를 예측하고, 몬테 카르롤로 모의 실험과 신경 회로망을 이용해 충돌 확률을 계산한다. 그리고 과거의 충돌 확률 정보를 이용하여 충돌확률을 예측한다. Belief 충돌 예측 방법은 현재뿐만 아니라, 과거의 필터링 정보를 모두 이용하여 충돌 확률을 에측한다. 마지막으로 컴퓨터 시뮬레이션으로 제안된 알고리즘의 성능을 확인한다.

• 한국항공우주학회지
• /
• 제39권9호
• /
• pp.883-888
• /
• 2011

GPS를 기반으로 하는 무인항공기 추적 안테나 시스템은 일정한 주기를 가지고 위치정보를 갱신하는 특성이 있으며 이로 인하여 갱신 주기에 따른 위치 오차가 발생한다. 위치오차를 줄이기 위해 GPS의 갱신 주기를 시분할 하여 분할된 시점의 위치를 예측 하고 이를 이용하여 무인항공기를 추적할 수 있도록 하였다. 무인항공기의 위치를 예측하기 위해서 속도와 가속도 기반의 선형 칼만 필터를 사용하였으며 이를 이용하여 무인항공기의 속도와 가속도를 측정하였고 시간의 변화에 따른 위치변화를 예측한다.

• 한국인터넷방송통신학회논문지
• /
• 제12권1호
• /
• pp.195-200
• /
• 2012

본 논문에서는 동시통화에 강인한 특성을 갖는 알고리즘의 추적성능을 개선시킬 수 있는 새로운 방법을 제안하였다. 반향경로의 변화를 검출하는 방법과 적응필터의 계수 적응식을 변경하는 방법을 제안하였다. 오차신호 대 스케일 파라메터의 비는 반향경로가 변화한 경우와 동시통화가 발생한 경우에 지속시간이 다른 특성을 가지며 이를 이용하여 반향경로 변화를 검출한다. 제안한 적응필터계수 적응식은 잘못된 오차신호선택을 방지하도록 하여 추적 성능을 개선시킨다. 실제 음성신호와 ITU-T G.168에서 제공하는 반향경로를 사용한 실험을 통하여 제안한 방법이 기존의 방법에 비해 4dB 이상 성능을 개선시킴을 확인하였다.

• 융합보안논문지
• /
• 제13권4호
• /
• pp.47-52
• /
• 2013

VANET(Vehicular Ad-hoc Network)은 원활한 교통 소통, 사고 방지 등 여러 가지 편리한 기능들을 제공하지만 그 기반을 애드혹 네트워크에 두고 있기 때문에 애드혹 망에서 발생하는 보안 문제를 가지고 있다. VANET에서 사용자의 프라이버시를 보호하기 위해 그룹 서명방식 등이 연구되어졌다. 그러나 그룹 간에 그룹 키 생성 단계 및 그룹 키 갱신단계에서 RSU(Road-Side Unit) 및 차량의 계산상 오버헤드가 발생한다. 본 논문에서는 효율적인 그룹 키 관리 기술을 제안한다. 즉, 그룹 키 생성 및 갱신 단계에서 CBF(Counting Bloom Filter)를 사용하므로 RSU 및 차량의 계산상 오버헤드를 감소시킨다. 또한, RSU와 차량에서 그룹 키를 자체적으로 갱신하여 관리하는 기법이다.