• The Journal of Korean Institute of Communications and Information Sciences
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• v.25 no.5A
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• pp.634-640
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• 2000

This paper proposes a new extended decision directed-decision estimated phase recovery algorithm based on maximum likelihood parameter estimation for OQPSK. In this scheme, comparing conventional one, the data dependent noise of phase recovery loop is reduced by inserting filter with 2 taps to in-phase and quadrature-phase channel respectively before phase detector. The proposed scheme is compared to conventionalscheme and OQPSK in aspect to BER(Bit Error Rate) and phase error according to the roll-off factor of baseband filter, the output back-offs of nonlinear satellite channel, and loop bandwidth.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.19 no.2
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• pp.93-98
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• 1983

When detecting underwater targets using echo sounder, the echo signals varies with the angular displacement of the transducer due to ship's motion. Then, the effect of the angular which effects the capability of the echo sounder must be investigated in relation to the detection of fish concentration, particularly, the abundance estimation of fish. In this pater, as the basic research to investigate the effect of the ship's motion when estimating the fish stocks by acoustic methods, the authors was theoritically considered the variations in the values of the two way directivity function of transducer in the direction of the targets which caused by the angular motion of transducer. Here, the effects of the movement of target and ship's running are neglected. At the same time, the data was applied to estimate the angular shift of the detectable area of echo sounder due to transducer displacement. From the results analyzed, we found that the angular shift of the detectable area due to ship's motion increases both as the roll angle increases and as the beamwidth becomes narrower, varies with the depth.

• International Journal of Ocean Engineering and Technology Speciallssue:Selected Papers
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• v.5 no.1
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• pp.22-28
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• 2002

A New concept for the LNG-FPSO ship, with moonpool and bilge step in bottom, is proposed. This concept is investigated with regard to motion reduction and sloshing phenomena of the cargo and operation tanks. The principal dimensions of the ship are $L\timesb B\times D\times t(design)=270.0\times51.0\times32.32\times13.7(m)$, with a total cargo capacity of 161KT; a 98% loading condition is considered for this study. The moonpools and rectangular step at the bilge have been designed for the purpose of decreasing the motion within the tank. For the motion analysis, linearized three-dimensional diffraction theory, with the simplified boundary condition was used. The six-degree of freedom coupled motion responses were calculated for the LNG-FPSO ship. Viscous effects on the roll motion responses of a vessel were taken into account in this calculation program, using an empirical formula suggested by Himeno(1981). The case study for the moonpool size has been conducted using theoretical estimation and the experimental method. For the optimization of the moonpool size and effect of the bilge step, 9 cases of its size, both with and without bilge step, were involved in the study. no motion responses, especially roll motion, for the designed LNG-FPSO ships are much lower than those of other drill ships and shuttle tankers. The limit criterions are satisfied. To check the cargo tank and operation tank sizes, we performed a sloshing analysis in the irregular waves which focuses on the pressure distribution on the tank wall and the time history of pressure and free surface for No.2 and 5 tanks of LNG-FPSO with chamfers. Finally, optimum tank sire was estimated.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.7
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• pp.659-666
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• 2016

Magnetic disturbance is one of the main factors that deteriorate the accuracy of orientation estimation methods based on inertial/magnetic sensor signals. This paper proposes a parallel Kalman filter(KF) that explicitly detects magnetic disturbances and thus can accurately estimate 3D orientation in magnetically disturbed environments. Due to the parallel nature of the proposed KF, even severe magnetic disturbances only affect yaw estimation, while roll and pitch values remain accurate. Consequently, the proposed KF can be effectively used in various applications that involve magnetically inhomogeneous environments, such as robots, ships, and planes.

• Journal of Convergence for Information Technology
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• v.8 no.6
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• pp.135-142
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• 2018

In recent years, researches utilizing UAV for military purposes such as precision tracking and batting have been actively conducted. In order to track the preceding flight, there has been a previous research on estimating the attitude information of the flight such as roll, pitch, and yaw using images taken from the rear UAV. In this study, we propose a method to estimate the attitude information more precisely by applying the Kalman filter to the existing image processing technique. By applying the Kalman filter to the estimated attitude data using image processing, we could reduce the estimation error of the attitude angle significantly. Through the simulation experiments, it was confirmed that the estimation using the Kalman filter can estimate the posture information of the aircraft more accurately.

• Transactions of the Korean Society of Automotive Engineers
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• v.8 no.4
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• pp.169-176
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• 2000

Longitudinal and lateral forces acting on tires are known to be closely related to the tract-ability braking characteristics handling stability and maneuverability of ground vehicles. In thie paper in order to develop tire force monitoring systems a monitoring model is proposed utilizing not only the vehicle dynamics but also the roll motion. Based on the monitoring model three monitoring systems are developed to estimate the tire force acting on each tire. Two monitoring systems are designed utilizing the conventional estimation techniques such as SMO(Sliding Mode Observer) and EKF(Extended Kalman Filter). An additional monitoring system is designed based on a new SKFMEC(Scaled Kalman Filter with Model Error Compensator) technique which is developed to improve the performance of EKF method. Tire force estimation performance of the three monitoring systems is compared in the Matlab simulations where true tire force data is generated from a 14 DOF vehicle model with the combined-slip Magic Formula tire model. The built in our Lab. simulation results show that the SKFMEC method gives the best performance when the driving and road conditions are perturbed.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.5
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• pp.385-392
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• 2018

This paper suggests a new method to estimate the roll and pitch damping moment coefficients of a flying disc through sensor data from the onboard IMU module. This method can be easily performed than wind tunnel or computational fluid dynamics methods because it estimates aerodynamic coefficients simply after accumulating the inertial data through several repeated flight experiments. Estimated coefficients are applied to a simulator which is based on the flight dynamics of a flying disc. Finally, the predicted flight trajectory is compared with the true position provided by GPS, which demonstrated the validity of the proposed estimation method.

• Journal of Ocean Engineering and Technology
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• v.31 no.2
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• pp.177-182
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• 2017

This paper describes an unscented Kalman filter approach to estimate the bias in magnetic field measurements. A microelectromechanical systems attitude heading reference system (MEMS AHRS) was used to measure the magnetic field, together with the acceleration and angular rate. A magnetic field is usually used for yaw detection, while the acceleration serves to detect the roll and pitch. Magnetic field measurements are vulnerable to distortion due to hard-iron effect and soft-iron effect. The bias in the measurement accounts for the hard-iron effect, and this paper focuses on an approach to estimate this bias. The proposed method is compared with other methods through experiments that implement the navigation of an underwater robot using an AHRS and Doppler velocity log. The results verify that the compensation of the bias by the proposed method improves the navigation performance more than or comparable to the compensation by other methods.

• IEMEK Journal of Embedded Systems and Applications
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• v.17 no.3
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• pp.149-155
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• 2022

This paper proposes a method for estimating the road surface condition and tilt angle using an inertial measurement unit (IMU) to improve the safety in the use of mobility aids for the elderly. The measurements of the accelerometers of the IMU usually include the accelerations caused by not only the gravitational force but also linear and rotational motions. Thus, the gravitational accelerations are first extracted using several physical constraints and then incorporated into the Kalman filter to estimate the tilt angle. In addition, because the magnitudes of the accelerations produced by the rotational motions (roll and pitch motions) vary with the road surface condition, a criterion based on such accelerations is presented to classify the condition of the road surface. The obtained road surface condition and tilt angle are finally combined to provide the safety information (e.g., safe, warning, and danger) for the user to improve the walking safety. Experiments were carried out and the results showed that the proposed method can provide the condition of the road surface, the tilt of the road surface, and the safety information correctly.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.762-766
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• 2003

In this paper, we present a new approach to solve the problem of estimating the camera 3-D location and orientation from a matched set of 3-D model and 2-D image features. An iterative least-square method is used to solve both rotation and translation simultaneously. Because conventional methods that solved for rotation first and then translation do not provide good solutions, we derive an error equation using roll-pitch-yaw angle to present the rotation matrix. To minimize the error equation, Levenberg-Marquardt algorithm is introduced with uniform sampling strategy of rotation space to avoid stuck in local minimum. Experimental results using real images are presented.