• The Journal of Korea Robotics Society
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• v.7 no.4
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• pp.231-242
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• 2012

This paper proposes particle filter(PF) method using acoustic signal for localization of an underwater robot. The method uses time of arrival(TOA) or time difference of arrival(TDOA) of acoustic signals from beacons whose locations are known. An experiment in towing tank uses TOA information. Simulation uses TDOA information and it reveals dependency of the localization performance on the uncertainty of robot motion and senor data. Also, comparison of the PF method with the least squares method of spherical interpolation(SI) and spherical intersection(SX) is provided. Since PF uses TOA or TDOA which comes from measurement of external information as well as internal motion information, its estimation is more accurate and robust to the sensor and motion uncertainty than the least squares methods.

• Journal of Positioning, Navigation, and Timing
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• v.5 no.3
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• pp.137-144
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• 2016

In this paper, the performance of ranging measurement, which is generated using two receiver clock offsets in one receiver, was analyzed. A spoofer transmits a counterfeited spoofing signal which is similar to the GPS signal with hostile purposes, so the same tracking technique can be applied to the spoofing signal. The multi-correlator can generate two receiver clock offsets in one receiver. The difference between these two clock offsets consists of the path length from the spoofer to the receiver and the delay of spoofer system. Thus, in this paper, the ranging measurement was evaluated by the spoofer localization performance based on the time-of-arrival (TOA) technique. The results of simulation and real-world experiments show that the position and the system clock offset of the spoofer could be estimated successfully.

• Journal of Communications and Networks
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• v.13 no.1
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• pp.6-11
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• 2011

In this paper, an enhanced localization algorithm based on double thresholds (LAD) is proposed for localizing narrowband signals in the frequency domain. A simplified LAD method is first studied to reduce the computational complexity of the original LAD method without performance loss. The upper and lower thresholds of the simplified LAD method are directly calculated by running the forward consecutive mean excision algorithm only once. By combining the simplified LAD method and binary morphological operators, the enhanced LAD method is then proposed and its performance is simply discussed. The simulation results verify the correctness of discussion and show that the enhanced LAD method is superior to the LAD with adjacent cluster combining method, especially at low signal-to-noise ratio.

• Journal of IKEEE
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• v.20 no.1
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• pp.1-8
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• 2016

In this paper, we propose an effective time-of-arrival (TOA)-based localization method with adaptive bias computation in indoor environments. The goal of the localization is to estimate an accurate target's location in wireless localization system. However, in indoor environments, non-line-of-sight (NLOS) errors block the signal propagation between target device and base station. The NLOS errors have significant effects on ranging between two devices for wireless localization. In TOA-based localization, finding the target's location inside the overlapped area in the TOA-circles is difficult. We present an effective localization method using compensated distance with adaptive bias computation. The proposed method is possible for the target's location to estimate an accurate location in the overlapped area using the measured distances with subtracted adaptive bias. Through localization experiments in indoor environments, estimation error is reduced comparing to the conventional localization methods.

• Journal of Positioning, Navigation, and Timing
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• v.6 no.1
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• pp.27-33
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• 2017

GPS provides the positioning solution in most areas of the world. However, the position error largely occurs in the urban area due to signal attenuation, signal blockage, and multipath. Although many studies have been carried out to solve this problem, a definite solution has not yet been proposed. Therefore, research is being conducted to solve the vehicle localization problem in the urban environment by converging sensors such as cameras and Light Detection and Ranging (LIDAR). In this paper, the precise vehicle localization using 3D LIDAR (Velodyne HDL-32E) is performed in the urban area. As there are many tall buildings in the urban area and the outer walls of urban buildings consist of planes generally perpendicular to the earth's surface, the outer wall of the building meets at a vertical corner and this vertical corner can be accurately extracted using 3D LIDAR. In this paper, we describe the vertical corner extraction method using 3D LIDAR and perform the precise localization by combining the extracted corner position and GPS/DR information. The driving test was carried out in an about 4.5 km-long section near Teheran-ro, Gangnam. The lateral and longitudinal RMS position errors were 0.146 m and 0.286 m, respectively and showed very accurate localization performance.

• The Journal of the Acoustical Society of Korea
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• v.42 no.6
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• pp.529-535
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• 2023

Noise originating from incipient propeller cavitation is assumed to come from a limited number of sources emitting a broadband signal. Conventional methods for cavitation localization have limitations because they cannot distinguish adjacent sound sources effectively due to low accuracy and resolution. On the other hand, sparse Bayesian learning technique demonstrates high-resolution restoration performance for sparse signals and offers greater resolution compared to conventional cavitation localization methods. In this paper, an incipient propeller cavitation localization method using sparse Bayesian learning is proposed and shown to be superior to the conventional method in terms of accuracy and resolution through experimental data from a model ship.

• Journal of Information Technology Applications and Management
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• v.22 no.3
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• pp.105-114
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• 2015

This paper presents a fast Time Difference of Arrival (TDOA) estimation for sound source localization. TDOA is the time difference between the arrival times of a signal at two sensors. We propose a partial cross correlation method to increase the speed of TDOA estimation for sound source localization. We do this by predicting which part of the cross correlation function contains the required TDOA value with the help of the signal energies, and then we compute the cross correlation function in that direction only. Experiments show approximately 50% reduction in the cross correlation computation time thereby increasing the speed of TDOA computation. This makes it very relevant for real world surveillance.

• Smart Structures and Systems
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• v.9 no.1
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• pp.21-33
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• 2012

In this study, a Lamb-wave based damage detection approach is proposed for damage localization in plate. A sensor network consisting of three PZT wafer type actuators/sensors is used to generate and detect Lamb waves. To minimize the complication resulted from the multimode and dispersive characteristics of Lamb waves, the fundamental symmetric Lamb mode, $S_0$ is selectively generated through designing the excitation frequency of the narrowband input signal. A damage localization algorithm based upon the configuration of the PZT sensor network is developed. Time-frequency analysis method is applied to purify the raw signal and extract damage features. Experimental result obtained from aluminum plate verified the proposed damage localization approach.

• The KIPS Transactions:PartA
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• v.17A no.2
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• pp.53-62
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• 2010

Mobile Sensor Vehicles, nodes of Mobile Sensor Network, are navigating for a specific, maybe unknown, region. For the precise usage of MSN, MSV has to be able to do localization by integrating information through communication by each other. In addition, MSV should be localized with various sensors equipped. In this research, we propose a set of techniques that improve accuracy using human mimic by combining and exploiting the existing techniques such as Dead-Reckoning, Computer Vision and Received Signal Strength Identification.

• Journal of Internet Computing and Services
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• v.11 no.1
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• pp.27-33
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• 2010

This paper applies Bayesian Markov inferred localization techniques for determining ZigBee mobile device's position. To evaluate its accuracy, we compare it with conventional technique, map-based localization. While the map-based localization technique referring to database of predefined locations and their RSSI data, the Bayesian Markov inferred localization is influenced by changes of time, direction and distance. All determinations are drawn from the estimation of Received Signal Strength (RSS) using ZigBee modules. Our results show the relationship between RSSI and distance in indoor ZigBee environment and higher localization accuracy of Bayesian Markov localization technique. We conclude that map-based localization is not suitable for flexible changes in indoors because of its predefined condition setup and lower accuracy comparing to distance-based Markov Chain inference localization system.