• 한국통신학회논문지
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• 제39B권7호
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• pp.449-458
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• 2014

상황인식 서비스에서 위치설정은 매우 중요한 기술 요소이다. RSSI와 같은 전파특성 지수가 편리하고 저렴한 이유로 널리 사용되고 있다. 그러나 RSSI는 시간에 따른 변화가 크고 다중경로에 취약성으로 실내 환경에서 위치 설정에 적절하지 않다. 본 논문은 WLAN의 RF 전파특성 지수인 CSI(Channel State Information)를 이용하여 실내에서 임의 단말의 위치설정을 위한 거리추정에 소요되는 절차와 기법들을 제시한다. 먼저 거리추정의 포괄적인 절차를 정의하고, 거리대비 전파손실 모델의 환경 특성값을 보정하는 알고리즘을 제시한다. 상용 WLAN 통신모듈을 이용한 실험을 통하여 제안된 절차와 기법의 유용성에 대해서 분석한다.

• 한국소음진동공학회논문집
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• 제19권4호
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• pp.355-362
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• 2009

Sound source localization method based on the time delay of arrival(TDOA) is applied to many research fields such as a robot auditory system, teleconferencing and so on. When multi-microphones are utilized to localize the source in 3 dimensional space, the conventional localization methods based on TDOA decide the actual source position using the TDOAs from all microphone arrays and the detection measure, which represents the errors between the actual source position and the estimated ones. Performance of these methods usually depends on the number of microphones because it determines the resolution of an estimated position. In this paper, we proposed the localization method using spatially mapped GCC functions. The proposed method does not use just TDOA for localization such as previous ones but it uses spatially mapped GCC functions which is the cross correlation function mapped by an appropriate mapping function over the spatial coordinate. A number of the spatially mapped GCC functions are summed to a single function over the global coordinate and then the actual source position is determined based on the summed GCC function. Performance of the proposed method for the noise effect and estimation resolution is verified with the real environmental experiment. The mean value of estimation error of the proposed method is much smaller than the one based on the conventional ones and the percentage of correct estimation is improved by 30% when the error bound is ${\pm}20^{\circ}$.

• 한국정보과학회논문지:정보통신
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• 제37권6호
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• pp.489-493
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• 2010

래터레이션 기반 실내 위치 측위 기법은 단말기와 AP(Anchor Point) 사이의 거리 예측을 위하여 RSS(Received Signal Strength)를 주로 사용한다. 그러나 무선 신호는 시간과 공간에 따라 무작위로 변화하는 특성을 가지므로 RSS를 이용한 거리 예측에서 오류의 발생은 불가피하다. 단말기와 AP사이의 거리 예측 정확도는 단말기 위치 예측 정확도에 많은 영향을 미치게 되므로 기존 기법들은 이를 해결하기 위하여 다수의 AP를 사용하였다. 그러나 많은 실험 결과들은 다수의 AP 사용보다는 경로 손실 모델에 잘 부합하는 RSS 측정 값을 가진 AP 즉 기준 AP 만을 선택하여 이용하는 것이 위치 예측 정확도를 향상시킬 수 있는 방법임을 보였다. 따라서 본 논문에서는 실내 환경에서 단말기의 측위 정확도활 향상시키기 위한 기준 AP 선택 기법과 선택된 기준 AP들을 이용한 적응적 거리 예측 기법을 제안한다. 또한 실내 위치 측위 시스템을 구현하여 다양한 실험 환경에서의 실험함으로써 제안 기법의 타당성을 검증하였다.

• ETRI Journal
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• 제32권6호
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• pp.837-842
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• 2010

This paper proposes robust source localization methods for estimating the azimuth angle, elevation angle, velocity, and range using a low-complexity planar antenna array in impulsive non-Gaussian noise environments. The proposed robust source localization methods for wireless communication applications are based on nonlinear M-estimation provided from Huber and Hampel. Simulation results show the robustness performance of the proposed robust methods in impulsive non-Gaussian noise.

• 산업공학
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• 제23권3호
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• pp.239-245
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• 2010

This paper considers a localization problem of a moving tag on RFID(Radio Frequency Identification) systems, where a positioning engine collects TDOA(Time-difference of Arrival) signal from a target tag to estimate the position of the tag. To localize the tag in the RFID system, we develop two heuristic algorithms and evaluate their performance in the estimation error and computational time by using randomly generated numerical examples. Based upon the performance evaluation, we can conclude our algorithms are valuable for localization the moving target.

• 대한음성학회지:말소리
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• 제67호
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• pp.135-147
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• 2008

In this paper, we propose a method for source localization in reverberant environments based on an adaptive eigenvalue decomposition (AED) algorithm which directly estimates channel impulse responses from a speaker to microphones. Unfortunately, the AED algorithm may suffer from whitening effects on channels estimated from temporally correlated natural sounds. The proposed method which applies sparse priors to the estimated channels can avoid the temporal whitening and improve the performance of source localization in reverberant environments. Experimental results show the effectiveness of the proposed method.

• 로봇학회논문지
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• 제2권1호
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• pp.40-47
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• 2007

Recently, with the development of service robots and with the new concept of ubiquitous world, the position estimation of mobile objects has been raised to an important problem. As pre-liminary research results, some of the localization schemes are introduced, which provide the absolute location of the moving objects subjected to large errors. To implement a precise and convenient localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed in this paper. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter: 1. The RFID receiver gets the synchronization signal from the mobile robot and 2. The ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from three beacons and the absolute position information of the beacons themselves. Since it is not easy to install the beacons at a specific position precisely, there exists a large localization error and the installation time takes long. To overcome these problems, and provide a precise and convenient localization system, a new auto calibration algorithm is developed in this paper. Also the extended Kalman filter has been adopted for improving the localization accuracy during the mobile robot navigation. The localization accuracy improvement through the proposed auto calibration algorithm and the extended Kalman filter has been demonstrated by the real experiments.

• 대한전자공학회논문지TC
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• 제45권12호
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• pp.97-104
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• 2008

위치 기반 서비스는 위치 측위 기술을 통해 사용자의 위치를 파악하고 이에 따라 각종 정보나 서비스를 제공하는 서비스이다. 그러나 기존의 실외 측위 시스템은 보다 높은 측위 정확도를 요구하는 실내 환경에 적용하기에 적합하지 않다. 본 논문에서는 IEEE 802.15.4 무선 PAN(personal area network) 환경에서 삼각법을 이용한 실내 측위 시스템에 초점을 맞추며 기준점과 단말기 사이의 거리 예측을 위하여 RSS(received signal strength)를 사용한다. 실내 위치 측위 시스템 구축을 위하여 본 논문에서는 위치 측위 정확도를 극대화할 수 있는 최적의 기준점을 선택하는 기법과 선택된 기준점과 단말기 사이의 거리 예측을 위하여 전파 환경 변화에 적응력있는 거리 예측 기법을 제안한다. 시스템 구현을 통하여 위치 정확도 측면에서 제안 기법의 성능을 검증하였다.

• The Journal of the Acoustical Society of Korea
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• 제20권4E호
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• pp.52-60
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• 2001

This paper describes real time implementation of subband sound localization system on a floating-point DSP TI TMS320C31. The system determines two dimensional location of an active speaker in a closed room environment with real noise presents. The system consists of an two microphone array connected to TI DSP hosted by PC. The implemented sound localization algorithm is Subband CPSP which is an improved version of traditional CPSP (Cross-Power Spectrum Phase) method. The algorithm first split the input speech signal into arbitrary number of subband using subband filter banks and calculate the CPSP in each subband. It then averages out the CPSP results on each subband and compute a source location estimate. The proposed algorithm has an advantage over CPSP such that it minimize the overall estimation error in source location by limiting the specific band dominant noise to that subband. As a result, it makes possible to set up a robust real time sound localization system. For real time simulation, the input speech is captured using two microphone and digitized by the DSP at sampling rate 8192 hz, 16 bit/sample. The source location is then estimated at once per second to satisfy real-time computational constraints. The performance of the proposed system is confirmed by several real time simulation of the speech at a distance of 1m, 2m, 3m with various speech source locations and it shows over 5% accuracy improvement for the source location estimation.

• 경영과학
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• 제29권3호
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• pp.1-11
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• 2012

This paper considers a localization problem in time difference of arrival (TDOA)-based radio frequency identification (RFID) systems. To estimate the position of a target tag, this paper suggests three localization algorithms that use benchmark tags. The benchmark tags are the same type as the target tag, but either the locations or distance of the benchmark tags are known. Two algorithms use the benchmarks for auxiliary information to improve the estimation accuracy of the other localization algorithms such as least squared estimator (LSE). The other one utilizes the benchmarks as essential tags to estimate the location. Numerical tests show that the localization accuracy can be improved by using benchmark tags especially when an algorithm using the LSE is applied to the localization problem. Furthermore, this paper shows that our benchmark algorithm is valuable when the measurement noise is large.