• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 하계종합학술대회논문집
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• pp.635-638
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• 1998

This paper proposes a simple method to measure system's performance in target tracking problems. Essentially employing the Cramer-Rao lower bound (CRLB) on trakcing accuracy, an algorithm of predicting system's performance under various scenarios is developed. The input data is a collection of measurements over time fromsensors embedded in gaussian noise. The target of interest may not maneuver over the processing time interval while the own ship observing platform may maneuver in an arbitrary fashion. Th eproposed approach is demonstrated and discussed through simulation results.

• 한국통신학회논문지
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• 제35권11B호
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• pp.1659-1666
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• 2010

고기동 유도탄들은 다양한 탄내 인터페이스와 빠른 유도 조종 루프를 가진다. 그러므로 Hardware-in-the-Loop(HWIL) 시뮬레이션 제어 시스템은 고성능의 연산기능 및 하드웨어 인터페이스 기능을 가져야 하며, 실시간 운영체제, 임베디드 시스템, 자료 통신, 실시간 하드웨어 제어와 같이 다양한 IT 분야를 융합하여 개발되어야 한다. 이 논문은 고기동 유도탄의 HWIL 시뮬레이션을 수행하기 위한 제어 시스템 설계 기법으로 시스템 하드웨어 구성, 고성능의 다중 프로세서를 사용하기 위한 업무 할당 알고리즘, HWIL 시뮬레이션 실시간 연산 및 제어 기법, 프로세서 통신 기법, 실시간 자료 획득 기법을 제시한다.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2008년도 12th Asian Congress of Fluid Mechanics
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• pp.62.1-62.1
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• 2008

• 전자공학회논문지B
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• 제30B권5호
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• pp.62-72
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• 1993

The phased array antenna has the ability to perform adaptive sampling by directing the radar beam without inertia in any direction. The adaptive sampling capability of the phased array antenna allows each sampling time interval to be varied for each target, depending on the acceleration of each target at any time. In this paper we design a three dimensional adaptive target tracking algorithm for the phased array radar system with a given set of measurement parameters. The tracking algorithm avoids taking unnecessarily frequent samples, while keeping the angular prediction error within a fraction of antenna beamwidth so that the probability of detection will not be degraded during a track updata illuminations. In our algorithm, the target model and the sampling rate are selected depending on the target range and the target maneuver status which is determined by a maneuver level detector. A detailed simulation is conducted to test the validity of our tracking algorithm for target trajectories under various conditions of maneuver.

• 수산해양기술연구
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• 제56권2호
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• pp.163-171
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• 2020

Engaged in trawling in limited fishing grounds with a number of fish schools could cause collisions between fishing vessels. Therefore, providing accurate maneuver information according to the situation could be regarded as essential for improving seafarers safety and fishing efficiency as well as safety of navigation. It is difficult to obtain all maneuver information through sea trial tests only, so a method through empirical formula is necessary. Since most empirical formulas are developed for merchant ship types, especially the characteristics of hull shape parameter like C_bB/L and dC_b/B etc. are clearly different between fishing vessels and merchant ships, this could occur estimation errors. Therefore, in this study, the authors have selected target fishing vessels and merchant ships and analyzed the characteristics of hull shape parameter according to the ship types. Based on this analysis, the empirical formula developed for the merchant ship type has applied to the target fishing vessels; it has verified through the turning motion simulation that the estimation error could be generated. In conclusion, it is necessary to include the characteristics of the hull shape parameter of fishing vessels in the empirical formula in order to apply the empirical formula has developed for merchant ship types to fishing vessel types.

• 전자공학회논문지SC
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• 제48권3호
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• pp.21-29
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• 2011

본 논문은 스테레오 비전 시스템에서 객체의 기동 상태에 상관없이 안정된 거리 및 속도를 추정할 수 있는 방법을 제안한다. 스테레오 비전은 좌우 영상의 시차를 이용하여 거리를 추정할 수 있지만, 영상 화소의 양자화 오차로 인해 거리 오차가 발생할 수 있다. 부화소 보간법은 이러한 양자화 오차를 최소화하여 실수를 갖는 정밀 시차를 추정할 수 있다. 확장형 칼만 필터는 추정된 정밀 시차의 공분산을 최소화하고 객체의 속도를 추정하기 위하여 사용되어진다. 하지만, 시스템 모델의 불확실성으로 인해 기동이 발생했을 때, 발산 문제가 생기고 이는 오히려 추정 오차를 증가시킨다. 본 논문에서는 연산 시간을 최소화하면서, 객체의 기동 상태에 상관없이 안정된 상태 추정 성능을 제공할 수 있는 가상 모델 확장형 칼만 필터를 제안한다. 모의실험 및 실제 도로 환경에서의 실험 결과는 제안한 방법이 기존 추정 필터들에 비하여, 다양한 기동 상태에서 안정된 추정 성능과 향상된 연산시간을 제공한다는 것을 보여준다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2747-2752
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• 2003

This paper has develops a new framework to understand the human’s driving maneuver based on the expression as HDS focusing on the driver’s stopping maneuver. The driving data has been collected by using the three-dimensional driving simulator based on CAVE, which provides three-dimensional visual information. In our modeling, the relationship between the measured information such as distance to the stop line, its first and second derivatives and the braking amount has been expressed by the PWPS model, which is a class of HDS. The key idea to solve the identification problem was to formulate the problem as the MILP with replacing the switching conditions by binary variables. From the obtained results, it is found that the driver appropriately switches the ‘control law’ according to the following scenario: At the beginning of the stopping behavior (just after finding the stopping point), the driver decelerate the vehicle based on the acceleration information, and then switch to the control law based on the distance to the stop line.

• 항공우주기술
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• 제5권2호
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• pp.90-101
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• 2006

자세제어계 센서 보정알고리즘을 이용하여 자이로와 별 추적기의 보정 파라미터를 추정하였다. 보정알고리즘은 칼만필터로 구현하였다. 자이로의 파라미터를 추정하기 위해서는 보정기동이 필요하며, 별 추적기의 요구조건 내에서 보정기동을 수행하였다. 보정기동 동안에 별 추적기가 태양, 지구, 달에 대해서 영향을 받는지를 분석을 하였다. 또한 별 추적기를 보정하기 위해서는 카메라 영상 정보를 이용하였다. 이러한 카메라 영상 정보는 지상 제어점과 인공위성의 궤도 정보를 이용하여 모사하였으며, 별 추적기 보정 파라미터 추정의 정밀도는 카메라 영상 정보의 정밀도에 따라 다르다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1667-1670
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• 1997

We consider the probelem of identifying and underwater vehicle. It is assumed that a priori information about the parameteric model structure and values of the hydrodynamic coefficients is available from some other schemes. The concept of relative esnsitivity is introduced to plan and efficinet identification procedure. An analysis of the sensitivity of the overall system to a particular hydrodynamic coefficinet provides a tool to evaluate the relative importance of the same coefficient in a particular maneuver. Then it can be made possible to reduce the filter size by selecting some dominatn hydrodynamic coefficients as parameters to be estimated for a given maneuver, and this fact may be used for establishing a gradual identification scheme. The main merit of a gradual identification is substantially reduced computer burden with increased nimerical stability. An illustrative simualtion result is given.

• 한국지능시스템학회논문지
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• 제15권6호
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• pp.748-753
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• 2005

When the maneuver occurs, the performance of the standard Kalman filter has been degraded because mismatches between the modeled target dynamics and the actual target dynamics. To solve this problem, the unknown acceleration is determined by using the fuzzy logic based on genetic algorithm(GA) method. This algorithm is the method to estimate the increment of acceleration by a fuzzy system using th relation between maneuver filler residual and non-maneuvering one. To optimize this system, a GA is utilized. And then, the modified filter is corrected by the new update equation method which is a fuzzy system using the relation between the filter residual and its variation. To shows the feasibility of the suggested method with only one filter, the computer simulations system are provided, this method is compared with multiple model method.