• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.172.5-172
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• 2001

Target Motion Analysis(TMA) for Passive Sonar Systems with bearing-only measurements needs to enhance system observability to improve target tracking performance by ownship maneuvering. However, tracking problem incurred by weak observaility result in slow convergence of the target estimates. On the other hand, active sonar systems do not have problem associated with system observaility. However, it drawback related to system survivability. In this paper, the algorithm that could be used in Active/passive Mixed-Mode Sonar Systems is proposed to analyze maneuvering target motion and to improve TMA performance. The proposed TMA algorithm is tested by a series of computer simulation runs and the results ...

• 대한전기학회논문지:시스템및제어부문D
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• 제53권5호
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• pp.331-337
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• 2004

Target motion analysis with a sonar system in general uses a regular sampling time and thus obtains regular target information regardless of the target maneuver status. This often results in overconsumption of the limited sonar resources. We propose two methods of the IMM(interacting Multiple Model) PDAF algorithm for sonar resource management to improve target motion analysis performance and to save sonar resources in this paper. In the first method, two different process noise covariance which are used as mode sets are combined based on probability. In the second method, resource time which are processed from two mode sets is calculated based on probability and then considered as update time at next step. Performance of the proposed algorithms are compared with the other algorithms by a series of Monte Carlo simulation.

• 한국음향학회지
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• 제43권1호
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• pp.1-8
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• 2024

수동형 소나의 성능을 측정하기 위해 주어진 환경과 시스템 변수 하에서 보통 최대 탐지거리를 고려한다. 음파가 해표면 또는 해저면과 필연적으로 접촉하는 천해에서는 표적탐지가 최대 탐지거리까지 유지되는 게 일반적이다. 그러나 심해에서는 음파가 해표면 또는 해저면과 접촉하지 않을 수도 있으며, 이 경우 음파가 도달하지 않는 음영구역이 존재할 수도 있다. 이 경우 최대 탐지거리만으로 각 소나의 탐지성능을 완전하게 기술하기 어려울 수 있다. 보다 완전한 탐지성능 기술을 위해 '탐지견고성(Robustness Of Detection, ROD)' 개념을 도입하고자 한다. 동해 연안에서 수괴의 공간적 분포와 최대 탐지거리 및 탐지견고성은 밀접한 관계가 있으며, 최대 탐지거리와 탐지견고성은 서로 반대의 공간적 변동을 보인다. 경험직교함수(Empirical Orthogonal Function, EOF)를 도입하여 수온의 시공간적 분포를 분석한 결과 첫 번째 모드는 전형적인 계절 변화를 보이고, 두 번째 모드는 혼합층 등의 세기 변화를 반영하는 것으로 추정된다. 이 두 모드가 전체 변화의 약 92 %를 설명한다. 수심 5 m와 100 m 표적을 가정하여 수동형 소나의 최대 탐지거리와 두 모드의 계절 변화의 상관관계를 분석하면 첫 두 모드와 높은 음의 상관계수(약 -0.9)를 보인다. 수온의 계절적 변화는 표층 ~ 수심 200 m에서 발생하며, 이에 따라 수심 100 m에 표적이 존재한다고 가정하여 수동소나를 수심 100 m 이상에서 운용할 경우 계절변화가 미미한 탐지성능을 기대할 수 있다.

• 한국군사과학기술학회지
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• 제21권2호
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• pp.158-165
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• 2018

Recently there is a great interest in the bi-static sonar. However, since the transmitter and the receiver operate on different platforms, it may be necessary to operate the system in a non-cooperative mode. In this situation, the detection and localization performance are limited. Therefore, it is necessary to classify the received pulse from the transmitter to overcome the performance limitation. In this paper, we proposed a robust automatic pulse classification method that can be applied to real systems. The proposed method eliminates the effects of noise and multipath propagation through post-processing and improves the pulse classification performance. We also verified the proposed method through the sea experimental data.

• 한국음향학회지
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• 제29권1호
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• pp.10-17
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• 2010

수중에서 소나를 이용하여 표적을 탐지하고자 할 때 자함에서 발생되는 소음을 감소시켜 표적의 탐지성능을 향상시키는 것은 매우 중요한 일이다. 본 논문에서는 수상함에서 선체고정형소나(HMS)를 사용하는 경우 두 가지 운영모드에 대하여 자함의 소음감소 성능을 분석하였다. 운영자모드에서는 ALE(Adaptive Line Enhancer)기법을 적용하여 자함신호의 광대역 성분을 감소하므로 토널 성분의 탐지성능을 향상하였으며, 자동모드에서는 주 입력신호와 상관관계를 가진 기준 입력신호를 선정하여 조향 방위로 유입되는 잡음신호를 제거하였다. 적응필터를 설계하기 위하여 NLMS(Normalized LMS)알고리즘을 이용하였으며 실제 해상실험 데이터를 이용하여 시뮬레이션을 수행하므로 제안한 기법의 성능을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.148-148
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• 2000

In this paper the IMM(Interacting Multiple model) algorithm using the MGEKF(Modified Gain Extended Kalman Filter) which modes are variances of the process noises is proposed to enhance the performance of maneuvering target tracking with bearing and frequency measurements. The state are composed of relative position, relative velocity, relative acceleration and doppler frequency. The mode probability is calculated from the bearing and frequency measurements. The proposed algorithm is tested a series of computer simulation runs.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.1054-1059
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• 2007

This paper summarized a solution procedure for a large cylindrical structure mounted underneath a ship as a sonar. Vibration analysis of the water loaded structure is required to enhance the structural reliability as well as acoustic performance of the sonar. It is, however, often very difficult to solve such structures since they have many DOFs, considering the frequency of interest and the waterloading. The cyclic symmetric method is firstly reviewed to show how the eigen properties of the full model can be obtained from the representative segment model. The mode mapping method is then proposed and verified to take into account the waterloading with the minimum DOF for the analysis. The solution procedure is finally proposed and applied for a waterloaded cylindrical array structure.

• Journal of Advanced Marine Engineering and Technology
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• 제33권1호
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• pp.175-182
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• 2009

This paper summarizes a solution procedure for a large cylindrical structure mounted underneath a ship as a sonar. Vibration analysis of the water loaded structure is required to enhance the structural reliability as well as acoustic performance of the sonar. It is, however, often very difficult to solve such structures since they have many DOFs, considering the frequency of interest and the water-loading. The mode mapping method is proposed and verified to take into account the water-loading with the minimum DOF for the analysis. The cyclic symmetric method is then reviewed to show how the eigen properties of the full model can be obtained from the representative segment model. The solution procedure is finally proposed and applied successfully for a simplified water-loaded cylindrical array structure.

• 한국해양공학회지
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• 제18권4호
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• pp.33-39
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• 2004

This paper presents a hybrid underwater navigation system for unmanned underwater vehicles, using an additional range sonar, where the navigation system is based on inertial and Doppler velocity sensors. Conventional underwater navigation systems are generally based on an inertial measurement unit (IMU) and a Doppler velocity log (DVL), accompanying a magnetic compass and a depth sensor. Although the conventional navigation systems update the bias errors of inertial sensors and the scale effects of DVL, the estimated position slowly drifts as time passes. This paper proposes a measurement model that uses the range sonar to improve the performance of the IMU-DVL navigation system, for extended operation of underwater vehicles. The proposed navigation model includes the bias errors of IMU, the scale effects of VL, and the bias error of the range sonar. An extended Kalman filter was adopted to propagate the error covariance, to update the measurement errors, and to correct the state equation, when the external measurements are available. To illustrate the effectiveness of the hybrid navigation system, simulations were conducted with the 6-d.o.f. equations of motion of an AUV in lawn-mowing survey mode.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.2011-2013
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• 2001

In this paper the MMAE(Multiple Model Adaptive Estimation) algorithm using the MGEKF(Modified Gain Extended Kalman Filter) of which modes are set to be measurement biases is proposed to enhance the performance of target tracking with bearing only measurements. The state are composed of relative position, relative velocity and taregt acceleration. The mode probability is calculated from the bearing only measurements from the HMS(Hull-Mounted Sonar). The proposed algorithm is tested in a series of computer simulation runs.