• 제어로봇시스템학회논문지
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• 제12궈1호
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• pp.9-14
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• 2006

This paper presents methods of robot localization using recent radio frequency identification technology. If the absolute position and orientation of a tag are given in an indoor environment where RFID tags are installed, a robot can estimate its location using the relationship of the identified tag and the robot in a relative coordinate. To derive this relationship, we propose three estimation techniques using a model of a RFID reader, the direction of identification and the detection range. In this algorithm, a suitable estimation method is selected out of the three proposed techniques depending on the situations and trajectory of robot in the detection range. Simulation and experimental results show that the proposed methods can provide good performance for localization.

• 제어로봇시스템학회논문지
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• 제18권5호
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• pp.426-432
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• 2012

The positions of vessels in JTIDS where each vessel broadcasts its position, can be found using the relative navigation method. Besides positioning, the relative navigation could be adopted for identification friend or foe, tracking targets, monitoring battle field and etc. In this paper, we have explained the fundamental operation and technical structure for the relative navigation and implemented the simulation platform to evaluate the basic function and performance of the system in arbitrary environment. Using platform, the availability of relative navigation within the group network and the characteristic of the algorithm for position prediction was verified. Based on the simulation result, it was verified that EKF based navigation algorithm could produce great initial error and need quite convergence time. To improve the performance, we proposed a new navigation algorithm which uses the minimum norm estimation algorithm until the EKF converges. The simulation results reveal the relative navigation can be effectively used in the formation flight and collision avoidance system.

• International Journal of Aeronautical and Space Sciences
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• 제16권4호
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• pp.581-589
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• 2015

This paper describes a monocular vision-based formation flight technology using two fixed wing unmanned aerial vehicles. To measuring relative position and attitude of a leader aircraft, a monocular camera installed in the front of the follower aircraft captures an image of the leader, and position and attitude are measured from the image using the KLT feature point tracker and POSIT algorithm. To verify the feasibility of this vision processing algorithm, a field test was performed using two light sports aircraft, and our experimental results show that the proposed monocular vision-based measurement algorithm is feasible. Performance verification for the proposed formation flight technology was carried out using the X-Plane flight simulator. The formation flight simulation system consists of two PCs playing the role of leader and follower. When the leader flies by the command of user, the follower aircraft tracks the leader by designed guidance and a PI control law, and all the information about leader was measured using monocular vision. This simulation shows that guidance using relative attitude information tracks the leader aircraft better than not using attitude information. This simulation shows absolute average errors for the relative position as follows: X-axis: 2.88 m, Y-axis: 2.09 m, and Z-axis: 0.44 m.

• 대한전자공학회논문지SP
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• 제39권3호
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• pp.49-57
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• 2002

본 논문에서는 TMS320C80 MVP(multimedia video processor)를 이용하여 영상 항법변수 추출 알고리듬을 실시간 구현하는 방법에 대해 연구하였다. 영상 항법변수 추출 알고리듬은 상대위치 추정과 절대위치 보정으로 이루어져 있으며, 절대위치 보정은 고해상도 항공영상과 IRS(Indian remote sensing) 위성영상 그리고 DEM(digital elevation model)을 이용한 방법이 있다. 이러한 알고리듬들을 수행하는 통합시스템을 MVP가 탑재된 DSP 보드로 실시간 구현하였다. 이를 위해 영상을 분할하여 병렬처리 함으로써 처리 시간을 줄였다. 모의 실험을 통해 실시간 처리가 가능함을 알 수 있었고, 추정오차 측면에서 성능을 평가하였다.

• 한국전자통신학회논문지
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• 제11권12호
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• pp.1175-1186
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• 2016

무선 통신 환경에서 위치기반서비스를 이용하기 위해서는 상대거리 측정기술이 중요하다. 본 논문에서는 비동기식 주파수 다중 분할(: FDD) 방식을 사용하는 통신환경에서 위치측정을 위한 내 외부 인프라 사용이 불가할 때, 물리계층의 프레임 구조를 활용한 상대거리 측정을 위한 방안을 제시한다. 제안된 방식은 연속적인 거리측정이 가능하며, 실험을 통해 평균 10m 이하의 측정 정확도를 확인하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.410-413
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• 2005

There are technical requirements to manufacture large size functional parts with not only simple geometries like a flat or spherical surface but also sculptured geometries. In addition, the required machining accuracy for these parts is becoming more severe day-by-day. In general, the forms of machined parts are determined by relative position between the workpiece and the tool during cutting. To improve machining accuracy, the relative position error should be maintained within the required accuracy. This study deals with estimation and calibration of depth of cut using AE signal in micro-machining.

• 한국정밀공학회지
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• 제13권8호
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• pp.175-183
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• 1996

This paper presents three-dimensional robot task using the vision control method. A minimum of two cameras is required to place points on end dffectors of n degree-of-freedom manipulators relative to other bodies. This is accomplished using a sequential estimation scheme that permits placement of these points in each of the two-dimensional image planes of monitoring cameras. Estimation model is developed based on a model that generalizes known three-axis manipulator kinematics to accommodate unknown relative camera position and orientation, etc. This model uses six uncertainty-of-view parameters estimated by the iteration method.

• 제어로봇시스템학회논문지
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• 제11권12호
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• pp.996-1001
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• 2005

Recently, with the development of service robots and with the new concept of ubiquitous world, the position estimation of mobile objects has been raised to an important problem. As pre-liminary research results, some of the localization schemes are introduced, which provide the relative location of the moving objects subjected to accumulated errors. To implement a real time localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed in this paper. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter: 1. The RFID receiver gets the synchronization signal from the mobile robot and 2. The ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from. Three beacons and the absolute position information of the beacons themselves. In some case, the mobile robot can get the ultrasonic signals from only one or two beacons, because of the obstacles located along the moving path. Therefore, in this paper, as one of our dedicated contribution, the position estimation scheme with less than three sensors has been developed. Also, the extended Kalman filter algorithm is applied for the improvement of position estimation accuracy of the mobile robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1448-1451
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• 2004

Position estimation is one of the most important functions for the mobile robot navigating in the unstructured environment. Most of previous localization schemes estimate current position and pose of mobile robot by applying various localization algorithms with the information obtained from sensors which are set on the mobile robot, or by recognizing an artificial landmark attached on the wall, or objects of the environment as natural landmark in the indoor environment. Several drawbacks about them have been brought up. To compensate the drawbacks, a new localization method that estimates the absolute position of the mobile robot by using a fixed camera on the ceiling in the corridor is proposed. And also, it can improve the success rate for position estimation using the proposed method, which calculates the real size of an object. This scheme is not a relative localization, which decreases the position error through algorithms with noisy sensor data, but a kind of absolute localization. The effectiveness of the proposed localization scheme is demonstrated through the experiments.

• Journal of Advanced Marine Engineering and Technology
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• 제38권2호
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• pp.188-194
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• 2014

Recently, indoor localization systems based on wireless sensor networks have received a great deal of attention because they help achieve high accuracy in position determination by using various algorithms. In order to minimize the error in the estimated azimuth that can occur owing to sensor drift and recursive calculation in these algorithms, we propose a novel relative azimuth estimation algorithm. The advantages of the proposed technique in an indoor environment are that an improved weight average filter is used to effectively reduce impulse noise from the raw data acquired from nodes with inherent errors and a rotational displacement algorithm is applied to obtain a precise relative azimuth without using additional sensors, which can be affected by electromagnetic noise. Results from simulations show that the proposed filter reduces the impulse noise, and the acquired estimation error does not accumulate with time by using proposed algorithm.