• Transactions on Control, Automation and Systems Engineering
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• v.4 no.4
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• pp.305-310
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• 2002

The measured rate of the tracking sensor becomes biased under some operational situation. For a highly maneuverable aircraft in 3D space, the target dynamics changes from time to time, and the Kalman filter using position measurement only can not be used effectively to reject the rate measurement bias error. To cope with this problem, we present a new algorithm which incorporate FIR-type filter and FIR-type fixed-lag smoother, and demonstrate that it has the optimal performance in terms of both estimation accuracy and response time through an application example to the anti-aircraft gun fire control system(AAGFCS).

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.10
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• pp.202-208
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• 2012

Fetal heart rate monitoring is important information to assess fetal well-being. Non-invasive fetal ECG (electrocardiography) can be derived from maternal abdominal signal. And various promising signal processing methods have been introduced to extract fetal ECG from mother's composite abdominal signal. However, non-invasive fetal ECG monitoring still has not been widely used in clinical practice due to insufficient reliable measurement and difficulty of signal processing. In application of signal processing method to extract fetal ECG, it might be lower signal to noise ratio due to time varying white Gaussian noise. In this paper, time varying Kalman smoother is proposed to remove white noise in fetal ECG and its feasibility is confirmed. Wiener process was set as Kalman system model and covariance matrix was modified according to white Gaussian noise level. Modified error covariance matrix changed Kalman gain and degree of smoothness. Optimal covariance matrix according to various amplitude in Gaussian white noise was extracted by 5 channel fetal ECG model, and feasibility of proposed method could be confirmed.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.30 no.7
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• pp.123-129
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• 2002

This paper reveals determination of orbital elements of the satellite using GPS data collected by the low-end GPS receiver installed at KITSAT-3 which is a small scientific experimental satellite of Korea and launched in May 1999. An extended Kalman filter is designed for a forward estimation of real-time 3-dimensional position and velocity, and a smoother is used for a backward post-processing estimation of the same states. After finishing estimation of position and velocity, the corresponding orbital elements are estimated. Finally, the result of each orbital element is analyzed.

• Journal of the Society of Naval Architects of Korea
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• v.40 no.5
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• pp.43-52
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• 2003

Two methods which estimate manoeuvring derivatives in the model of hydrodynamic force and moment acting on a manoeuvring ship using sea trial data were compared. One is the widely used parameter estimation method by using the Extended Kalman Filter (EKF), which estimates state variables of linearized state space model at every instant after dealing with the coefficients as the augmented state variables. The other one is the Estimation-Before-Modeling (EBM) technique, so called the two-step method. In the first step, hydrodynamic force of which dynamic model is assumed the third-order Gauss-Markov process is estimated along with motion variables by the EKF and the modified Bryson-Frazier smoother. Then, in the next step, manoeuvring derivatives are identified through the regression analysis. If the exact structure of hydrodynamic force could be known, which was an ideal case, the EKF method would be regarded as being more superior compared to the EBM technique. However the EBM technique was more robust than the EKF method from a realistic point of view where the assumed model structure was slightly different from the real one.

• Journal of the Korea Institute of Military Science and Technology
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• v.3 no.2
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• pp.121-130
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• 2000

A practical method is proposed to improve hit probability of the digital gun fire control system, when the measured rate of the tracking sensor becomes biased under some operational situation. For ground moving target it is shown that the well-known Kalman filter which uses position measurement only can be optimally used to eliminate the rate bias error. On the other hand, for 3D moving aircraft we present a new algorithm which incorporate FIR-type filter, which uses position and rate measurement at the same time, and the fixed-lag smoother using position measurement only, and show that it has the optimal performance in terms of both estimation accuracy and response time.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.12
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• pp.1062-1070
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• 2015

This paper presents an application of an optimal smoothing filter for moving target tracking problem based on measured noise source. In order to measure distance and velocity for the moving target, a beamforming method is applied to use the noise source by using microphone array. Also a Kalman filter and an optimal smoothing algorithm are adopted to improve accuracy of trajectory estimation by using a Singer target model. The simulation is conducted with a missile dynamics to verify performance of the optimal smoothing filter, and a model rocket is used for experiment environment to compare the trajectory estimation results between the beamforming, the Kalman filter, and the smoother. The Kalman filter results show better tracking performance than the beamforming technique, and the estimation results of the optimal smoother outperform the Kalman filter in terms of trajectory accuracy in the experiment results.

• Journal of Astronomy and Space Sciences
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• v.36 no.4
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• pp.293-306
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• 2019

In this study, the observational arc-length effect on orbit determination (OD) for the Korea Pathfinder Lunar Orbiter (KPLO) in the Earth-Moon Transfer phase was investigated. For the OD, we employed a sequential estimation using the extended Kalman filter and a fixed-point smoother. The mission periods, comprised between the perigee maneuvers (PM) and the lunar orbit insertion (LOI) maneuver in a 3.5 phasing loop of the KPLO, was the primary target. The total period was divided into three phases: launch-PM1, PM1-PM3, and PM3-LOI. The Doppler and range data obtained from three tracking stations [included in the deep space network (DSN) and Korea Deep Space Antenna (KDSA)] were utilized for the OD. Six arc-length cases (24 hrs, 48 hrs, 60 hrs, 3 days, 4 days, and 5 days) were considered for the arc-length effect investigation. In order to evaluate the OD accuracy, we analyzed the position uncertainties, the precision of orbit overlaps, and the position differences between true and estimated trajectories. The maximum performance of 3-day OD approach was observed in the case of stable flight dynamics operations and robust navigation capability. This study provides a guideline for the flight dynamics operations of the KPLO in the trans-lunar phase.

• Journal of Astronomy and Space Sciences
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• v.26 no.1
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• pp.75-88
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• 2009

The main purpose of the current research is to introduce the alternative algorithm of the non-recursive batch filter based on the unscented transformation in which the linearization process is unnecessary. The presented algorithm is applied to the orbit determination of a low earth orbiting satellite and compared its results with those of the well-known Bayesian batch least squares estimation and the iterative UKF smoother (IUKS). The system dynamic equations consist of the Earth's geo-potential, the atmospheric drag, solar radiation pressure and the lunar/solar gravitational perturbations. The range, azimuth and elevation angles of the satellite measured from ground stations are used for orbit determination. The characteristics of the non recursive unscented batch filter are analyzed for various aspects, including accuracy of the determined orbit, sensitivity to the initial uncertainty, measurement noise and stability performance in a realistic dynamic system and measurement model. As a result, under large non-linear conditions, the presented non-recursive batch filter yields more accurate results than the other batch filters about 5% for initial uncertainty test and 12% for measurement noise test. Moreover, the presented filter exhibits better convergence reliability than the Bayesian least squares. Hence, it is concluded that the non-recursive batch filter based on the unscented transformation is effectively applicable for highly nonlinear batch estimation problems.