• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2020.07a
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• pp.717-720
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• 2020

An indoor localization system that uses Wi-Fi RSSI signals for localization gives accurate user position results. The conventional Wi-Fi RSSI signal based localization system uses raw RSSI signals from access points (APs) to estimate the user position. However, the RSSI values of a particular location are usually not stable due to the signal propagation in the indoor environments. To reduce the RSSI signal fluctuations, shadow fading, multipath effects and the blockage of Wi-Fi RSSI signals, we propose a Wi-Fi localization system that utilizes the advantages of Wi-Fi RSSI heat maps. The proposed localization system uses a regression model with deep convolutional neural networks (DCNNs) and gives accurate user position results for indoor localization. The experiment results demonstrate the superior performance of the proposed localization system for indoor localization.

• Journal of Korean Society for Quality Management
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• v.44 no.3
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• pp.541-552
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• 2016

Purpose: In this study, we propose that how to approach a effective system engineering and optimize system engineering management process for the mass production weapon system parts localization development process and success in DTaQ. Methods: To approach a effective system engineering for the mass production weapon system parts localization, we analyze a weapon system acquisition process and system engineering process of Republic of Korea and DTaQ parts localization business regulations in advance. after results of analysis of them, we implement a optimized parts localization development system engineering based on ISO/IEC/IEEE 15288. Results: In order to apply International Standard ISO/IEC/IEEE 15288 to the mass production weapon system parts localization development process, we compare the mass production weapon system parts localization acquisition environment with ISO/IEC/IEEE 15288 and analyze them. therefore, It is possible to implement a part of concept stage and development stage of ISO/IEC/IEEE total life cycle stage for the mass production weapon system parts localization development process. To achieve the technical review milestones of DTaQ parts localization business regulations in the selected stages of ISO/IEC/IEEE, the development and management agency perform 2 high rank process and 19 low rank process specified in ISO/IEC/IEEE. Conclusion: When the development and management agency perform the mass production weapon system parts localization development using the proposed system engineering approach, they should easily meet milestone through the clarified requirement and simplified System Engineering output documents in limited development period.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.868-875
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• 2006

The localization is one of the most important issues for mobile robot. This paper describes a novel localization system for the development of a location sensing network. The system comprises wirelessly controlled infrared landmarks and an image sensor which detects the pixel positions of infrared sources. The proposed localization system can operate irrespective of the illumination condition in the indoor environment. We describe the operating principles of the developed localization system and report the performance for mobile robot localization and navigation. The advantage of the developed system lies in its robustness and low cost to obtain location information as well as simplicity of deployment to build a robot location sensing network. Experimental results show that the developed system outperforms the state-of-the-art localization methods.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.415-419
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• 2010

A variety of methods for sound source localization have been developed and applied to several applications such as noise detection system, surveillance system, teleconference system, robot auditory system and so on. In the previous work, we proposed the sound source localization using the spatially mapped GCC functions based on TDOA for robot auditory system. Performance of the proposed one for the noise effect and estimation resolution was verified with the real environmental experiment under the single source assumption. However, since multi-talker case is general in human-robot interaction, multiple source localization approaches are necessary. In this paper, the proposed localization method under the single source assumption is modified to be suitable for multiple source localization. When there are two sources which are correlated, the spatially mapped GCC function for localization has three peaks at the real source locations and imaginary source location. However if two sources are uncorrelated, that has only two peaks at the real source positions. Using these characteristics, we modify the proposed localization method for the multiple source cases. Experiments with human speeches in the real environment are carried out to evaluate the performance of the proposed method for multiple source localization. In the experiments, mean value of estimation error is about $1.4^{\circ}$ and percentage of multiple source localization is about 62% on average.

• International Journal of Control, Automation, and Systems
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• v.6 no.2
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• pp.204-213
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• 2008

In this paper, we present the practical application of an Unscented Kalman Filter (UKF) for an Indoor Mobile Localization System using ultrasonic sensors. It is true that many kinds of localization techniques have been researched for several years in order to contribute to the realization of a ubiquitous system; particularly, such a ubiquitous system needs a high degree of accuracy to be practical and efficient. Unfortunately, a number of localization systems for indoor space do not have sufficient accuracy to establish any special task such as precise position control of a moving target even though they require comparatively high developmental cost. Therefore, we developed an Indoor Mobile Localization System having high localization performance; specifically, the Unscented Kalman Filter is applied for improving the localization accuracy. In addition, we also present the additive filter named 'Pre-filtering' to compensate the performance of the estimation algorithm. Pre-filtering has been developed to overcome negative effects from unexpected external noise so that localization through the Unscented Kalman Filter has come to be stable. Moreover, we tried to demonstrate the performance comparison of the Unscented Kalman Filter and another estimation algorithm, such as the Unscented Particle Filter (UPF), through simulation for our system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.5
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• pp.434-439
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• 2013

It is very difficult to monitor the blind spots that are not recognized by traditional surveillance camera (CCTV) systems, and the surveillance efficiencies are very low though many accidents/events can be solved by the systems. In this paper, the fuzzy logic based sound source localization system using sound strength in the underground parking lot is suggested and the performance of the system is analyzed in order to enhance the stabilization and the accuracy of the localization algorithm in the suggested system. It is confirmed that the localization stabilization of the localization algorithm (SLA_fuzzy) using the fuzzy logic in the suggested system is 4 times higher than that of the conventional localization algorithm (SLA). In addition to this, the localization accuracy of the SLA_fuzzy in the suggested system is 29% higher than that of the SLA.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38B no.1
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• pp.80-86
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• 2013

The 3-Dimensional(3D) localization system based on beacon expansion and coordinate-space disassembly for the design of the 3D localization system in indoor environment is proposed and the performance of the proposed system is analyzed in this paper. The localization ratio of the 3D localization system adapts the proposed algorithm is analyzed by the calculation of errors occurred in the coordinates that the mobile node locates. It is indicated that the average error distance of the 3D localization system adapts the proposed algorithm is less than that of the 3D localization system not adapts the proposed algorithm as 0.47m. The localization average distance error in 12 coordinates is indicated that the 1.5m case is less than 2.5m case as 0.38m by some experimentations under the condition that the distances between the ceiling and the mobile node are 1.5m and 2.5m measured from the ceiling respectively. It is seen that the 3D localization system based on beacon expansion and coordinate-space disassembly can improved the degradation of the quality of service that is caused by some conditions and performance differences in sensors.

• Journal of Sensor Science and Technology
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• v.17 no.1
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• pp.53-60
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• 2008

Localization is the most important functions in mobile robots. There are so many approaches to realize this essential function in wheel based mobile robots, but it is not easy to find similar examples in small underwater robots. It is presented the sonar localization system using ubiquitous sensor network for a fish robot in this paper. A fish robot uses GPS and sonar system to find exact localization. Although GPS is essential tool to obtain positional information, this device doesn't provide reasonable resolution in localization. To obtain more precise localization information, we use several Ubiquitous Sensor Networks (USN) motes with sonar system. Experimental results show that a fish robot obtains more detailed positional information.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.30 no.1
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• pp.87-95
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• 2016

Recently, the interests of the precise localization are rapidly increasing, which are linked to IoT(Internet of Things) sensors. The precise localization in indoor environment can be utilized in navigation, security, anti-collision, and various location based services etc. However, conventional positioning sensors, such as PIR, ultrasonic, microwave etc. are vulnerable to weather or insensitive to direction of subject movement or low precision performance. In this paper we implement a UWB-IR localization system for long distance and high-precision localization, which is not affected by temperature, light and weather. The proposed system was divided and designed by H/W, Antenna, S/W parts, each of which was designed based on an accurate analysis and simulation. As a result, we can implemented and verified UWB IR system with precise localization performance.

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.115-117
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• 2009

This paper presents localization performance enhancement on GPS interfering spot for mobile robot. Localization system applied Extended Kalman filter algorithm that utilized Diffrential GPS and odometry, inertial sensors. In this paper, different noise covariance is applied to Extended Kalman Filter according to the GPS quality. Experiment results show that proposed localization system improve considerably localization performance of mobile robots.