• Journal of the Korean Data and Information Science Society
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• 제19권3호
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• pp.979-994
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• 2008

Moving objects are spatio-temporal data that change their location or shape continuously over time. Generally, if continuously moving objects are managed by a conventional database management system, the system cannot properly process the past and future location which is not stored in the database. Up to now, for the purpose of location tracking which is not stored, the linear interpolation to estimate the past location has been usually used. It is suitable for the moving objects on linear route, not curved route. In this paper, we propose a past location tracking algorithm for a moving object on curved routes, and also suggest a future location tracking algorithm using some past location information. We found that the proposed location tracking algorithm has higher accuracy than the linear interpolation function.

• Journal of Information Technology Applications and Management
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• 제13권3호
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• pp.59-74
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• 2006

According to developing Wireless Communication, not only a location based service at the outside but also a location based service at the inside was more increased socially. This paper proposes the efficient algorithm to locate a transfer object in frequent change of indoor environment using indoor location tracking system we develop ourself. Proposing algorithm in this paper can locate a transfer object using the Fingerprint, one of the Location Tracking techniques which are used in general to minimize error data between Location Tracking System and Fingerprint, using this way that corrects location data as KF apply to result data can improve accuracy of a transfer object. At last we are going to compare and analyze existing typical triangulation with proposed Indoor location tracking system to demonstrate algorithm efficiency for proposed Indoor location tracking system.

• 한국통신학회논문지
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• 제37권4B호
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• pp.300-308
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• 2012

다양한 실내 위치 추적 기술들이 제안되고 있다. 일반적으로 TOA(Time of Arrival)신호를 활용한 실내 위치 추적 시에는 건물 내의 다양한 장애물들에 의해 전파의 굴절, 반사, 분산 등에 의해 위치 추적이 어렵다는 단점이 있다. 본 논문에서는 이러한 문제점을 해결하기 위해 NLOS(Non-Line-Of-Sight)환경에서 ETOA(Estimation-TOA) 알고리즘을 적용한다. ETOA알고리즘은 실내의 NLOS 환경이 발생한 해당 Beacon과의 TOA값을 추측항법을 통해 TOA값을 예측하는 알고리즘이다. 본 알고리즘을 이용하게 되면 삼각측량법을 사용하는 위치추적 시 3개의 노드 중 최대 2개의 노드가 NLOS가 발생하더라도 정확도 있는 위치 추적이 가능하다. 본 논문에서는 ETOA 알고리즘을 실내 이동로봇에 적용하고 로봇내의 관성센서와 칼만 필터를 이용함으로서 정확한 위치 추적을 할 수 있음을 확인하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제12권3호
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• pp.1287-1300
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• 2018

Target-tracking algorithm based on ad hoc camera sensor networks (ACSNs) utilizes the distributed observation capability of nodes to achieve accurate target tracking. A compressed sensing-based multiple-target tracking algorithm (CSMTTA) for ACSNs is proposed in this work based on the study of camera node observation projection model and compressed sensing model. The proposed algorithm includes reconfiguration of observed signals and evaluation of target locations. It reconfigures observed signals by solving the convex optimization of L1-norm least and forecasts node group to evaluate a target location by the motion features of the target. Simulation results show that CSMTTA can recover the subtracted observation information accurately under the condition of sparse sampling to a high target-tracking accuracy and accomplish the distributed tracking task of multiple mobile targets.

• Transactions on Electrical and Electronic Materials
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• 제14권4호
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• pp.187-192
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• 2013

Because of the importance of small target detection in infrared images, many studies have been carried out in this area. Using a Kalman filter and mean shift algorithm, this study proposes an algorithm to track multiple small moving targets even in cases of target disappearance and appearance in serial infrared images in an environment with many noises. Difference images, which highlight the background images estimated with a background estimation filter from the original images, have a relatively very bright value, which becomes a candidate target area. Multiple target tracking consists of a Kalman filter section (target position prediction) and candidate target classification section (target selection). The system removes error detection from the detection results of candidate targets in still images and associates targets in serial images. The final target detection locations were revised with the mean shift algorithm to have comparatively low tracking location errors and allow for continuous tracking with standard model updating. In the experiment with actual marine infrared serial images, the proposed system was compared with the Kalman filter method and mean shift algorithm. As a result, the proposed system recorded the lowest tracking location errors and ensured stable tracking with no tracking location diffusion.

• 한국정보통신설비학회:학술대회논문집
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• 한국정보통신설비학회 2008년도 정보통신설비 학술대회
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• pp.181-185
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• 2008

Recently, location based service(LBS) expended based on personal specialized service, however since commercialized GPS based emergency rescue service comes with shadow zone for GPS signal such as inside building, the accuracy and reliability are not guaranteed. Therefore to improve such problem, we propose an active location detecting algorithm using RFID-TAG and Yagiantenna. To track the location of RFID-TAG where signal is generated, location tracking device in which Yagi-Antenna is installed moves around. Since directed wave and reflected wave co-exist during signal reception, final signal generated location is searched by setting up multiple of locations where signal can be generated on the map and moving location tracking device along minimum length of path. The algorithm proposed in this paper was verified of its technical validity through simulator.

• 한국통신학회논문지
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• 제40권4호
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• pp.723-730
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• 2015

본 논문에서는 전시장에 사용되는 도슨트 로봇 (Docent Robot)의 자율주행 정밀도 향상을 위하여 최소자승법을 적용한 위치추적 보정 알고리즘 (Location tracking Compensation Algorithm based on Least-Squares Method, $LCA_{LSM}$)을 제안하고, 도슨트 로봇을 사용한 실험을 통하여 그 성능을 분석하였다. 제안한 $LCA_{LSM}$은 전시장에서 도슨트 로봇의 자율주행에서 엔코더/자이로 (encoder/gyro, E/G)에서 발생하는 누적오차를 줄이고 위치추적 정확도를 개선하기 위하여 수집된 로봇의 위치좌표를 최소자승법 (Least-Squares Method, LSM)에 적용하여 보정한다. 실험결과, 제안한 $LCA_{LSM}$의 위치추적 평균 오차 감소율은 시나리오 1 (S1) 및 시나리오 2 (S2)에서 $LCA_{KF}$(Location tracking Compensation Algorithm based on Kalman Filter, $LCA_{KF}$) 보다 4.85% 더 높음을 확인하였다. 또한, 제안한 $LCA_{LSM}$의 측정오차에 따른 표준 편차는 S1 및 S2에서 E/G와 $LCA_{KF}$에 비해 훨씬 낮을 뿐 아니라 균일함을 확인하였다. 따라서 제안한 $LCA_{LSM}$은 도슨트 로봇이 S1 및 S2의 직선 이동을 할 때 E/G 및 $LCA_{KF}$ 보다 더 안정적임을 알 수 있다.

• 정보처리학회논문지A
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• 제10A권4호
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• pp.381-388
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• 2003

무선단말기에 도착하는 호의 연결을 위해서 유휴상태에 있는 무선단말기의 위치정보를 관리하는 위치추적 방법이 사용된다. 본 논문에서는 시간이 지남에 따라서 호도착율이 변화할 때에 적합한 호도착기록에 기반한 위치갱신 알고리즘을 제안한다. 이 알고리즘을 사용한 위치추적방법은 무선단말기의 호도착기록을 사용하여 호도착율의 변화를 파악하고, 이를 사용하여 현재의 호도착율에 적합한 타임아웃 주기를 계산한다. 그리고 이 방법에 대한 성능을 평가하기 위하여 고정/가변 호도착율에 대한 분석 모델과 그에 따른 분석 결과를 제시함으로써 호도착율의 변화에 적합함을 보인다.

• 제어로봇시스템학회논문지
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• 제16권12호
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• pp.1159-1166
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• 2010

Today, detecting the location of moving object has been traced as various methods in our world. In this paper, we preset the system to improve the estimation accuracy utilizing detail localization using radar sensor based on WSN and situational awareness for a calibration (context aware) database, Rail concept. A variety of existing location tracking method has a problem with receiving of data and accuracy as tracking methodology, and since these located data are the only data to be collected for location tracing, the context aware or monitering as the surrounding environment is limited. So, in this paper, we enhanced the distance aware accuracy using radar sensor utilizing the Doppler effect among the distance measuring method, estimated the location using the Triangulation algorithm. Also, since we composed the environment data(temperature, illuminancem, humidity, noise) to entry of the database, it can be utilized in location-based service according to the later action information inference and positive context decision. In order to verify the validity of the suggested method, we give a few random situation and built test bed of designed node, and over the various test we proved the utilizing the context information through route tracking of moving and data processing.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.795-800
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• 2008

The paper presents research for the established experiment environment of multi vehicle robot, localization algorithm that is based on vehicle control, and path tracking. The established experiment environment consists of ultrasonic positioning system, vehicle robot, server and wireless module. Ultrasonic positioning system measures positioning for using ultrasonic sensor and generates many errors because of the influence of environment such as a reflection of wall. For a solution of this fact, localization algorithm is proposed to determine a location using vehicle kinematics and selection of a reliable location data. And path tracking algorithm is proposed to apply localization algorithm and LOS, finally, that algorithms are verified via simulation and experimental