• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2007.04a
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• pp.447-450
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• 2007

Positioning technology for moving object is an important and essential component of ubiquitous. Also RFID(Radio Frequency IDentification) is a core technology of ubiquitous wireless communication. In this study we adapted kalman-filter theory to RFID-based Positioning System in order to trace a time-variant moving object and verify the positioning accuracy using RMSE (Roong technology for moving object is an important and essential component of ubiquitous Mean Square Error). The purpose of this study is to verify an effect of kalman-filter on the positioning accuracy and to analyze what does each design factor have an effect on the positioning accuracy by means of simulations and to suggest a standard of optimal design factor of a RFID-based Positioning System. From the results of simulations, Kalman-filer improved the positioning accuracy remarkably; the detection range of RFID tag is not a determining factor. The smaller standard deviation of detection range improves the positioning accuracy. However it accompanies a smaller fluctuation of the positioning accuracy. The larger detection rate of RFID tag yields the smaller fluctuation in the positioning accuracy and has more stable system and improves the positioning accuracy;

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.7
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• pp.107-116
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• 2014

This paper presents camera-based road surface marking detection methods suited to sensor fusion-based positioning system that consists of low-cost GPS (Global Positioning System), INS (Inertial Navigation System), EDM (Extended Digital Map), and vision system. The proposed vision system consists of two parts: lane marking detection and RSM (Road Surface Marking) detection. The lane marking detection provides ROIs (Region of Interest) that are highly likely to contain RSM. The RSM detection generates candidates in the regions and classifies their types. The proposed system focuses on detecting RSM without false detections and performing real time operation. In order to ensure real time operation, the gating varies for lane marking detection and changes detection methods according to the FSM (Finite State Machine) about the driving situation. Also, a single template matching is used to extract features for both lane marking detection and RSM detection, and it is efficiently implemented by horizontal integral image. Further, multiple step verification is performed to minimize false detections.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.818-826
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• 2002

Since multipath phenomenon frequently occurs when a Global Positioning System receiver is placed in urban area crowded with large buildings, efficient mitigation of multipath effects is necessary to resolve. In this paper, we propose a new multipath detection technique that is useful in real-time positioning with a general Global Positioning System receiver. The proposed technique is based on a channelwise multipath test statistic that efficiently indicates the degree of fluctuations induced by multipath error. The proposed multipath test statistic is operationally advantageous because it does not require any specialized hardware nor any pre-computation of receiver position, it is directly related to standard $\chi$$^2$-distributions, and it can adjust the detection resolution by increasing the number of successive measurements. Simulation and experiment results verify the performance of the proposed multipath detection technique.

• Journal of the Korean Society for Nondestructive Testing
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• v.35 no.1
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• pp.18-24
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• 2015

Train positioning detection information is fundamental for high-speed railroad inspection, making it possible to simultaneously determine the status and evaluate the integrity of railroad equipment. This paper presents the results of measurements and an analysis of an inertial measurement unit (IMU) used as a positioning detection sensors. Acceleration and angular rate measurements from the IMU were analyzed in the amplitude and frequency domains, with a discussion on vibration and train motions. Using these results and GPS information, the positioning detection of a Korean tilting train express was performed from Naju station to Illo station on the Honam-line. The results of a synchronized analysis of sensor measurements and train motion can help in the design of a train location detection system and improve the positioning detection performance.

• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
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• 2008.10a
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• pp.297-302
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• 2008

The positioning technology for a moving object is an important and essential component of ubiquitous computing environment and applications, for which Radio Frequency Identification(RFID) has been considered as a core technology. RFID-based positioning system calculates the position of moving object based on k-nearest neighbor(k-nn) algorithm using detected k-tags which have known coordinates and kcan be determined according to the detection range of RFID system. In this paper, RFID-based positioning system determines the position of moving object not using weight factor which depends on received signal strength but assuming that tags within the detection range always operate and have same weight value. Because the latter system is much more economical than the former one. The geometries of tags were determined with considerations in huge buildings like office buildings, shopping malls and warehouses, so they were determined as the line in I-Dimensional space, the square in 2-Dimensional space. In 1-Dimensional space, the optimal detection range is determined as 125% of the tag spacing distance through the analytical and numerical approach. Here, the analytical approach means a mathematical proof and the numerical approach means a simulation using matlab. But the analytical approach is very difficult in 2-Dimensional space, so through the numerical approach, the optimal detection range is determined as 134% of the tag spacing distance in 2-Dimensional space. This result can be used as a fundamental study for designing RFID-based positioning system.

• Journal of Positioning, Navigation, and Timing
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• v.8 no.3
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• pp.129-138
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• 2019

In this work, we propose detection method for ionosphere storm that occurs locally using widespread GNSS reference stations. For ionosphere storm detection, we compare ionosphere condition with other reference stations and estimate direction of movement based on ionosphere time variation. The method use carrier phase measurement of dual frequency, for accuracy and precision of test statistics, are evaluated with multiple GNSS reference stations data.

• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
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• 2008.10a
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• pp.270-271
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• 2008

The positioning technology for a moving object is an important and essential component of ubiquitous communication computing environment and applications, for which Radio Frequency IDentification Identification(RFID) is has been considered as also a core technology for ubiquitous wireless communication. RFID-based positioning system calculates the position of moving object based on k-nearest neighbor(k-nn) algorithm using detected k-tags which have known coordinates and k can be determined according to the detection range of RFID system. In this paper, RFID-based positioning system determines the position of moving object not using weight factor which depends on received signal strength but assuming that tags within the detection range always operate and have same weight value. Because the latter system is much more economical than the former one. The geometries of tags were determined with considerations in huge buildings like office buildings, shopping malls and warehouses, so they were determined as the line in 1-Dimensional space, the square in 2-Dimensional space and the cubic in 3-Dimensional space. In 1-Dimensional space, the optimal detection range is determined as 125% of the tag spacing distance through the analytical and numerical approach. Here, the analytical approach means a mathematical proof and the numerical approach means a simulation using matlab. But the analytical approach is very difficult in 2- and 3-Dimensional space, so through the numerical approach, the optimal detection range is determined as 134% of the tag spacing distance in 2-Dimensional space and 143% of the tag spacing distance in 3-Dimensional space. This result can be used as a fundamental study for designing RFID-based positioning system.

• Journal of Power System Engineering
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• v.19 no.2
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• pp.33-39
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• 2015

In conducting indoor positioning by code division multiple access using spread spectrum ultrasonic waves, it is required to detect signals under the influence of near-far problem occurred by difference on signal power, caused by distance between transmitter and receiver. For discussing robustness to the problem, we verified measuring accuracy on distance from an experiment on a real space with a hardware device where our proposed method is mounted. The proposed method performs automatic signal detection by setting threshold level dynamically. As an experimental result, measurable distance were improved by the proposed method, and measurement errors were up to 50mm in distances from 1000mm to 6000mm; therefore, enough accuracy to realize self-localization or navigation for autonomous mobile robot or human was obtained.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.490-495
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• 2015

As flying robots are becoming popular, there are increased needs to use themforsuch purposes as parcel delivery, serving in restaurants, and stage performances. To control flying robots such as quad copters, localization is essential. In order to properly position flying robots, many techniques are in development, including IR (infra-red)-based systemswhich catch markers on a flying robot in order that it can position itself. However, this technique demonstrates only short coverage. Furthermore, localization from inertial sensors diverges as time passes. For this reason, this paper suggests a TWR (two-way ranging) based positioning technique. Despite the weaknesses in currently available TWR system, this paper suggests a self-positioning and outlier detection technique in order to provide reliable position information with a faster update rate. The self-positioning system sends a shorter message which reduces wireless traffic. By detecting and removing outlier measurements, a positioning result with better accuracy is acquired. Finally, this paper shows that the suggesting system detects outlierssequentially from less than half the number of anchors in localization system according to the degree of outlier in measurement and the noise level. By performing an outlier algorithm, better positioning accuracy is acquired as shown in the experimental result.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1949-1952
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• 2004

GPS is widely used for outdoor positioning in many applications. But it is not suitable for positioning in an obstacle environment such as urban area, tunnels and so on, due to variable signal level. So new technology of the positioning is required to provide the consistent error level regardless of any changes in any environment. Abrupt changes of GPS signal can be detected by various fault detection and isolation methods. Conventional FDI (Fault Detection and Isolation) methods are categorized into two approaches. One approach is the snapshot method that uses measurements only at present step. The other approach is the filtering method that uses measurements stacked from previous step to present step. The FDI result of the snapshot method can be considered reliable independently with previous results and the FDI result of the filtering method is more reliable and detection time is a little longer. Therefore combining approach of two methods is proposed for increasing FDI performance in this paper. Three approaches that are the snapshot method, the filtering method and the combining method are compared to show the probability of correct FDI in simulations. The combining approach presents best result of FDI among them and shows the consistent accuracy irrespective of any changes in outdoor environment.