• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.6
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• pp.82-90
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• 2011

This paper proposes an advanced outdoor localization algorithm of a GPS(global positioning system)-INS(inertial navigation system) integration system. In order to reduce noise from the internal INS sensors, discrete wavelet transform and variable threshold method are utilized. The UPF (unscented particle filter) combines GPS information and INS signals to implement precise outdoor localization algorithm and to reduce noise caused by the acceleration, deceleration, and unexpected slips. The conventional de-noising method is mainly carried out using a low pass filter and a high pass filter which essentially result in signal distortions. This newly proposed system utilizes the vibration information of actuator according to fluctuations of the velocity to minimize signal distortions. The UPF also resolves non-linearities of the actuator and non-normal distributions of noises. Effectiveness of the proposed algorithm has been verified through the real experiments and the results are demonstrated.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.1A
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• pp.65-75
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• 2009

In Wireless Sensor Network, the sensor node localization is important issue for information tracking, event detection, routing. Generally, in wireless sensor network localization, the absolute positions of certain anchor nodes are required based on the use of global positioning system, then all the other nodes are approximately localized using various algorithms based on a coordinate system of anchor DV-Hop is a localized, distributed, hop by hop positioning algorithm in wireless sensor network where only a limited fraction of nodes have self positioning capability. However, instead of uniformly distributed network, in anisotropic network with possible holes, DV-Hop's performance is very low. To address this issue, we propose Group based DV-Hop (GDV-Hop) algorithm. Best contribution of GDV-Hop is that it performs localization with reduced error compared with DV-Hop in anisotropic network.

• Korean Journal of Remote Sensing
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• v.34 no.6_1
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• pp.1131-1142
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• 2018

The autonomous vehicles are being developed and operated widely because of the advantages of reducing the traffic accident and saving time and cost for driving. The vehicle localization is an essential component for autonomous vehicle operation. In this paper, localization algorithm based on sensor fusion is developed for cost-effective localization using in-vehicle sensors, GNSS, an image sensor and reference images that made in advance. Information of the reference images can overcome the limitation of the low positioning accuracy that occurs when only the sensor information is used. And it also can acquire estimated result of stable position even if the car is located in the satellite signal blockage area. The particle filter is used for sensor fusion that can reflect various probability density distributions of individual sensors. For evaluating the performance of the algorithm, a data acquisition system was built and the driving data and the reference image data were acquired. Finally, we can verify that the vehicle positioning can be performed with an accuracy of about 0.7 m when the route image and the reference image information are integrated with the route path having a relatively large error by the satellite sensor.

• Journal of Positioning, Navigation, and Timing
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• v.8 no.3
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• pp.95-105
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• 2019

A method that applies space-time adaptive signal processing (STAP) algorithm based on an array antenna consisting of multiple antenna elements has been known to be effective to remove wide-band jamming signals in GPS receivers. However, the occurrence of phase distortion in navigation signals has been a problem when navigation signals, from which jamming signals are removed using STAP, are supplied to global positioning system (GPS) receivers. This paper verified the navigation performance degradation as a result of phase distortion. To mitigate this phenomenon, this paper proposes a mode switching scheme, in which a bypass mode is adopted to make the best use of the tracking performance of receivers without performing signal processing when jamming signals are not present or weak, and a STAP mode is employed when jamming signals exceed the threshold value. In this paper, the mode switching scheme is proposed for two environments: when receivers are stationary, and when receivers are moving. This paper confirmed that the performance of position error improved because phase distortion could be excluded due to STAP if the bypass mode was adopted under a condition where the jamming signal power level was below the threshold value in an environment where receivers were stationary. However, this paper also observed that the navigation failed due to the instability of tracking performance of receivers due to phase distortion that occurred at the switching time, although the number of switching could be reduced dramatically by proposing a dual threshold scheme of on- and off-thresholds that switched a mode due to the array antenna characteristics of varying gains according to the jamming signal incident direction in an environment where receivers were moving. The analysis results verified that running the STAP algorithm at all times is more efficient than the mode switching, in terms of maintaining stable navigation and ensuring position error performance, to remove jamming signals in an environment where receivers were moving.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.24 no.3
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• pp.448-458
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• 2020

Indoor positioning based on trilateration using common chord estimates location of a mobile subject by using intersection points between each circles which the radius is same as distance between the mobile subject and each radio-frequency transmitter. However, if the intersection points are not found due to error of the distance measurement, it causes failure of estimating the mobile subject's location. To prevent this case, numbers which is proportionate to radius of each circles, are temporarily added to each distances in order to lengthen radius of the circles. Although the estimated location includes error due to the radius extension, it is corrected again by the added value and distance from reference point. With introduction of the advanced correction algorithm, potential issues of existing trilateration such as failure of estimating location and distance measurement error will be minimized.

• Journal of Navigation and Port Research
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• v.35 no.9
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• pp.701-706
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• 2011

Radio waves including GPS signals, various TV communications, and radio broadcasting can be disturbed by a strong solar storm, which may occur due to solar flares and produce an ionospheric delay anomaly in the ionosphere according to the change of total electron content. Electron density irregularities can cause deep signal fading, frequently known as ionospheric scintillation, which can result in the positioning error using GPS signal. This paper proposes a detection algorithm for the ionosphere delay anomaly during a solar storm by using multi-reference stations. Different TEC grid which has irregular electron density was applied above one reference station. Then the ionospheric delay in zenith direction applied different TEC will show comparatively large ionospheric zenith delay due to the electron irregularity. The ionospheric slant delay applied an elevation angle at reference station was analyzed to detect the ionospheric delay anomaly that can result in positioning error. A simulation test was implemented and a proposed detection algorithm using data logged by four reference stations was applied to detect the ionospheric delay anomaly compared to a criterion.

• Journal of Positioning, Navigation, and Timing
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• v.8 no.4
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• pp.175-181
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• 2019

This paper suggests a velocity integration algorithm for Synthetic Aperture Radar (SAR) motion measurement to reduce discontinuity of range error. When using position data from Embedded GPS/INS (EGI) to form SAR image, the discontinuity of the data degrades SAR image quality. In this paper, to reduce the discontinuity of EGI position data, EGI velocity integration is suggested which obtains navigation solution by integrating velocity data from EGI. Simulation shows that the method improves SAR image quality by reducing the discontinuity of range error. INS is a similar algorithm to EGI velocity integration in the way that it also obtains navigation solution by integrating velocity measured by IMU. Comparing INS and EGI velocity integration according to grades of IMU and GPS, EGI velocity integration is more suitable for the real system. Through this, EGI velocity integration is suggested, which improves SAR image quality more than existing algorithms.

• Smart Structures and Systems
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• v.20 no.2
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• pp.219-229
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• 2017

Outlier detection is an imperative task to identify the occurrence of abnormal events before the structures are suffered from sudden failure during their service lives. This paper proposes a two-phase method for the outlier detection of Global Positioning System (GPS) monitoring data. Prompt judgment of the occurrence of abnormal data is firstly carried out by use of the relational analysis as the relationship among the data obtained from the adjacent locations following a certain rule. Then, a negative selection algorithm (NSA) is adopted for further accurate localization of the abnormal data. To reduce the computation cost in the NSA, an improved scheme by integrating the adjustable radius into the training stage is designed and implemented. Numerical simulations and experimental verifications demonstrate that the proposed method is encouraging compared with the original method in the aspects of efficiency and reliability. This method is only based on the monitoring data without the requirement of the engineer expertise on the structural operational characteristics, which can be easily embedded in a software system for the continuous and reliable monitoring of civil infrastructure.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.1
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• pp.61-80
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• 2018

Location information of individual nodes is important in the implementation of necessary network functions. While extensive studies focus on localization techniques in 2D space, few approaches have been proposed for 3D positioning, which brings the location closer to the reality with more complex calculation consumptions for high accuracy. In this paper, an effective range-free localization scheme is proposed for 3D space localization, and the sensitivity of parameters is evaluated. Firstly, we present an improved algorithm (MDV-Hop), that the average distance per hop of the anchor nodes is calculated by root-mean-square error (RMSE), and is dynamically corrected in groups with the weighted RMSE based on group hops. For more improvement in accuracy, we expand particle swarm optimization (PSO) of intelligent optimization algorithms to MDV-Hop localization algorithm, called PMDV-hop, in which the parameters (inertia weight and trust coefficient) in PSO are calculated dynamically. Secondly, the effect of various localization parameters affecting the PMDV-hop performance is also present. The simulation results show that PMDV-hop performs better in positioning accuracy with limited energy.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.12 no.4_1
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• pp.121-128
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• 1992

This study aims to define the algorithm for self-calibration bundle adjustment with additional parameters, which is fit for the correction systematic errors in the SPOT satellite imagery, and to present a suitable term of additional parameters for the data form of SPOT satellite imagrery. As a result, an algorithm of self-calibration bundle adjustment for SPOT satellite imagery was settles, and the computer program was developed. Also, the suitable term of additional parameters to correct the systematic errors for each data form was defined through examination for determination effect of additional parameters and significance test. The algorithm of self-calibration bundle adjustment for SPOT satellite imagery according to this study could improve the accuracy of positioning.