• Journal of Institute of Control, Robotics and Systems
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• v.11 no.4
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• pp.363-368
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• 2005

This paper proposes an LOS(line-of-sight) guidance system of a ship for path following. From the viewpoint of a control configuration, guidance is a special type of compensation algorithm that is placed in front of the controller to accomplish navigational objects. A guidance system generates a reference trajectory for trajectory tracking or path control and decides the desired velocity, position and heading angle. A control system executes commands based on a reliable guidance law during navigation. An LOS vector from the vessel to a point on the path between two way-points in straight-line navigation or a point among turning circle in turning navigation is selected, and then a heading angle is calculated to converge the desired path based on the LOS vector. The LOS guidance law is defined for the straight-line and the turning circle, respectively. The effectiveness of the suggested LOS guidance system is assured through computer simulation.

• Journal of Advanced Marine Engineering and Technology
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• v.29 no.1
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• pp.124-131
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• 2005

This paper suggests LOS(Line-Of-Sight) guidance system of a surface vessel in straight-line navigation under ocean currents An LOS vector from the vessel to a point on the path between two way-points is decided and a heading angle is calculated to converge to follow the desired path based on the LOS vector This guidance system is called LOS guidance system. The suggested LOS guidance law has parameters to be properly chosen according to navigational environment. Parameters of LOS guidance system are optimized to reduce propulsive energy and/or position error between desired Position and present position of a ship using genetic algorithm which is a strong optimization algorithm with adaptational random search The effectiveness of the suggested LOS guidance system is assured through computer simulations.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1881_1882
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• 2009

Simple quadratic potential functions for unicycle robot path planning are presented, where proposed algorithm for path planning has the different environment for each robot based on LOS(Line Of Sight) between a target and an obstacle, unlike a conventional path planning. In doing so, the proposed algorithm assumes that each swarm robot equips its own vision instead of a ceiling camera. In particular, this paper presents that each robot follows its different local leader. As a result proposed algorithm reduces local minimum problems by the help of each local leader.

• IEMEK Journal of Embedded Systems and Applications
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• v.5 no.3
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• pp.152-156
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• 2010

Non-line-of-sight (NLOS) propagation is one of the challenges in radio positioning. Distinguishing the transmission status of the communication as line-of-sight (LOS) or NLOS is of great importance for the wireless communication systems. This paper focuses on the identification of NLOS based on time-of-arrival (TOA) distance estimates and the received signal strength (RSS) measurements. We set a path loss threshold based on the joint TOA and RSS based NLOS detection method to determine LOS or NLOS. Simulation results show that the proposed method ensures the correct of detection for the LOS condition and can improve the NLOS identification for the weak noise and long distance.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.6
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• pp.506-514
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• 2012

This paper represents a method for designing of path following Line-of-Sight(LOS) guidance law based on vehicle kinematics. In general, a LOS guidance law which is composed of gains and approach length as design parameters is designed by empirical or trial-and-error method. These approaches cannot guarantee a precision tracking performance of guidance law consistently. Also, the design parameters should be redesigned with variations of vehicle maneuverability and flight velocity. Based on a vehicle kinematics with its velocity, the proposed method for designing of parameters not only minimizes the number of design parameters, also has a reliable and consistent tracking performance using variable guidance gain changed in accordance with flight velocity. This is validated by nonlinear simulation with $1^{st}$ order attitude response dynamics and flight experiments with given linear and circular path.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.11
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• pp.1-8
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• 1997

A prediction model is proposed to describe the path loss in propagation environment of indoor microcell. This model includes the lineal corridor for line--of-sight(LOS) and T-shaped corridor for non-line-of-sight(NLOS). In computation of receiving power the ray tracing technique based on image method is utilized and also reflected waves bounced on the walls and ceilings are considered. To check validity of the computed resuls cross checks between the predicted and measured are being made, which shows a close agreement for LOS case whereas somewhat disagreement for NLOS case. UTD technique is incorporated with propagation path determination algorithm in the treatment of NLOS case.

• Journal of Navigation and Port Research
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• v.47 no.1
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• pp.10-17
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• 2023

A series of studies on the development of autonomous surface ships have been promoted in domestic and foreign countries. One of the main technologies for the development of autonomous ships is path-following control, which is closely related to securing the safety of ships at sea. In this regard, the path-following performance of an autonomous ship should be first evaluated at the design stage. The main aim of this study was to develop a visual and quantitative evaluation method for the path-following control performance of an autonomous ship at the design stage. This evaluation technique was developed using a computational fluid dynamics (CFD)-based path-following control model together with a line-of-sight (LOS) guidance algorithm. CFD software was utilized to visualize waves around the ship, performing path-following control for visual evaluation. In addition, a quantitative evaluation was carried out using the difference between the desired and estimated yaw angles, as well as the distance difference between the planned and estimated trajectories. The results demonstrated that the ship experienced large deviations from the planned path near the waypoints while changing its course. It was also found that the fluid phenomena around the ship could be easily identified by visualizing the flow generated by the ship. It is expected that the evaluation method proposed in this study will contribute to the visual and quantitative evaluation of the path-following performance of autonomous ships at the design stage.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.8A
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• pp.950-961
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• 2004

In this paper, we measured and analyzed propagation characteristics in a subway tunnel that is recently increasingly becoming one of the radio communication environments. The measurements are carried out in a subway tunnel with frequency bands of 2.45㎓ and 5.8㎓. The length of tunnel we used for this study is 175m of LOS (Line-of-sight) and 270m of NLOS (Non Line-of-Sight). The subway tunnel is curved and its cross section is horseshoe type. The measurement systems we employ in this study are a narrow-band system and a wide-band system. The narrow-band system is used to get path loss measurement and the wide-band system is used to figure out delay profile measurement. In particular, the wide-band system consists of 1023 length PN sequence generator using a chip rate of 80MHz based on a sliding correlation technique. The omni-directional antennas and directional antennas are used to analyze propagation characteristics for beam type of antenna. The path loss displays only pure path loss of a tunnel environment. The delay profile indicates the mean excess delay and RMS (root mean square) delay spread.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.23 no.7
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• pp.852-860
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• 2019

In this paper, we proposed a new trilateration technique based on exponential moving average (EMA) filter with adaptive signal model which enhances accuracy of positioning system even if the RSSI changes randomly due to movement of obstacles or blind node in indoor environment. In the proposed scheme, three fixed transmitters sent out the signal to blind node. The transmitter decides the location of the blind node based on RSSI and it estimates the cause of RSSI fluctuation which is interference of obstacle or movement of blind node. When the path between blind node and transmitter has become NLOS path because of obstacles, the transmitter ignores the measured RSSI in NLOS path and replace estimated RSSI in LOS environment. In the other case, the transmitter updated the new RSSI to represent of movement of blind node. The proposed scheme has been verified on a ZigBee testbed and we proved the improved positioning accuracy compared to the existing indoor position system.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.11
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• pp.5410-5426
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• 2019

With the advent of the fifth-generation (5G) era, Massive multiple-input multiple-output (MIMO) relay systems have experienced the rapid development. Recently, the performance analysis models of Massive MIMO relay systems have been proposed, which are mostly based on Rayleigh fading channels. In order to create a more suitable model for 5G Internet of Things scenarios, our study is based on the Rician fading channels, where line-of-sight (LOS) path exists in the channels. In this paper, we assume the channel state information (CSI) is perfect. In this case, we use statistical information to derive the analytical exact closed-form expression for the achievable sum rate of the uplink for the Massive MIMO two-hop relay system over Rician fading channels. Moreover, considering the different communication scenarios, we derive the analytical exact closed-form expression for the achievable sum rates of the uplink for other three scenarios. Finally, based on these expressions, we make simulations and analyze the performance under different transmit powers and Rician-factors, which provides a theoretical basis and reference for further research.