• 제어로봇시스템학회논문지
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• 제7권12호
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• pp.1015-1023
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• 2001

error behaviour can be considered as a linear combination of low amplitude random noise and abrupt jumps. The reason of jump appearance can be explained by the semi-shading effects(buildings, trees), jamming, high dynamic of vehicle and so on. This study describes the stand-alone GPS error jump smoothing algorithm which is developed based on the scalar adaptive filter. The algorithm consists of the coarse jump smoothing and the fine jump smoothing. On the coarse smoothing step, GPS velocities or position differences are used as the measurement for the scalar adaptive filter. The purpose of adaptive filter is to smooth the jump errors. The coarse positions are detennined by the integration of smoothed velocities. On the fine smoothing step, the differences between GPS positions and the coarse positions are smoothed by another scalar adaptive filter. The reason of fine smoothing is based on the facts that smoothing accuracy depends on the variance ofusefuJ signa\. The coarse smoothing which deal with the difference of positions provides the rough error removing. So the coarse smoothed velocities can have much more low amplitude than the raw ones. The fine smoothing procedure provides high quality of filtering process. Simulation results show the efficiency of proposed scheme.

• International Journal of Aeronautical and Space Sciences
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• 제18권1호
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• pp.118-128
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• 2017

In this study, we propose a real time inertial navigation system/global positioning system (INS/GPS) integrated smoothing algorithm based on an extended Kalman filter (EKF) and a position damping loop (PDL) for synthetic aperture radar (SAR). Integrated navigation algorithms usually induce discontinuities due to error correction update by the Kalman filter, which are as detrimental to the performance of SAR as the relative position error. The proposed smoothing algorithm suppresses these discontinuities and also reduces the relative position error in real time. An EKF estimates the navigation errors and sensor biases, and all the errors except for the position error are corrected directly and instantly. A PDL activated during SAR operation period imposes damping effects on the position error estimates, where the estimated position error is corrected smoothly and gradually, which contributes to the real time smoothing and small relative position errors. The residual errors are re-estimated by the EKF to maintain the estimation performance and the stability of the overall loop. The performance improvements were confirmed by Monte Carlo simulations. The simulation results showed that the discontinuities were reduced by 99.8% and the relative position error by 48% compared with a conventional EKF without a smoothing loop, thereby satisfying the basic performance requirements for SAR operation. The proposed algorithm may be applicable to low cost SAR systems which use a conventional INS/GPS without changing their hardware configurations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.56.3-56
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• 2001

This study describes the jump error smoothing scheme with fuzzy logic based on the scalar adaptive filter. The scalar adaptive filter is an useful algorithm for smoothing abrupt jump errors. However, the performances of scalar adaptive algorithm depend on the variance of real signal. So to design an effective algorithm, many informations of real and jump signal are required. In this paper, the fuzzy rules are designed by the analysis of scalar adaptive filter, and then the improved and simplified scheme is developed for smoothing the jump error. Simulations to INS/GPS integrated system show that the proposed method is effective.

• 대한전자공학회논문지
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• 제20권4호
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• pp.1-9
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• 1983

MRAS 초안주 출력 오차 모델(MRAS hyperstable output-error model)을 이용한 적응 순환 필터(adaptive recursive filter)의 설계상 가장 어려운 점은 오차 완화 필터 (error-smoothing filter)의 설계이다. 본 논문에서는 적응 순환 필터의 대표적 알고리즘인 HARF(hyperstable adaptive recursive filter) 알고리즘을 적절히 변형시킴으로써 오차 완화 필터를 제거시킬 수 있고, 동시에 수산 속도도 바른 알고리즘을 얻을 수 있음을 보였다.

• 제어로봇시스템학회논문지
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• 제19권5호
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• pp.481-487
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• 2013

This paper presents an FIR (Finite Impulse Response) fixed-interval smoothing filter for fast and exact estimating state variables of a discrete nonlinear system with modeling uncertainty. Conventional IIR (Infinite Impulse Response) filter and smoothing filter can estimate state variables of a system with an exact model when the system is observable. When there is an uncertainty in the system model, however, conventional IIR filter and smoothing filter may cause large errors because the filters cannot estimate the state variables corresponding to the uncertain model exactly. To solve this problem, FIR filters that have fast estimation properties and have robustness to the modeling uncertainty have been developed. However, there is time-delay estimation phenomenon in the FIR filter. The FIR smoothing filter proposed in this paper makes up for the drawbacks of the IIR filter, IIR smoothing filter, and FIR filter. Therefore, the FIR smoothing filter has good estimation performance irrespective of modeling uncertainty. The proposed FIR smoothing filter is applied to the integrated navigation system composed of a magnetic compass based DR (Dead Reckoning) and a GPS (Global Positioning System) receiver. Even when the magnetic compass error that changes largely as the surrounding magnetic field is modeled as a random constant, it is shown that the FIR smoothing filter can estimate the varying magnetic compass error fast and exactly with simulation results.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1995년도 추계학술대회논문집; 한국종합전시장, 24 Nov. 1995
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• pp.80-85
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• 1995

Too see the effects of finite record on the estimation of WVD in practice, a window which has time varying length is examined. Its length increases linearly with time in the first half of the record, and decreases from the center of the record. The bias error due to this window decreases inversely proportionally to the window length as time increases in the first half. In the second half, the bias error increases and the resolution decreases as time increases. The bias error due to the smoothing of WVD, which is obtained by two-dimensional convolution of the true WVD and the smoothing window, which has fixed lengths along time and frequency axes, is derived for arbitrary smoothing window function. In the case of using a Gaussian window as a smoothing window, the bias error is found to be expressed as an infinite summation of differential operators. It is demonstrated that the derived formula is well applicable to the continuous WVD, but when WVD has some discontinuities, it shows the trend of the error. This is a consequence of the assumption of the derivation, that is the continuity of WVD. For windows other than Gaussian window, the derived equation is shown to be well applicable for the prediction of the bias error.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.177.4-177
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• 2001

In this paper, we propose a new type of nonlinear fixed interval smoothing filter which is modified from the existing nonlinear smoothing filter. A nonlinear smoothing filter is derived from two-filter formulas. For the backward filter, the propagation and update equation of error states are derived. Particularly the modified update equation of the backward filter use the estimated error terms from the forward filter. Smoothing algorithm is altered into the compatible form with the new type of the backward fitter. An advantage of the proposed algorithm is more efficient than the existing one because propagation in backward filter is very simple from the implementation point of view. We apply the proposed nonlinear smoothing ...

• 정보과학회 논문지
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• 제42권6호
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• pp.769-780
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• 2015

디지털곡선에 있어서 잡음은 지역적으로 급격한 곡률 변화를 일으키므로 이를 없애거나 그 영향을 완화시키기 위해 평균을 이용한 스무딩 기법을 많이 사용한다. 그런데 스무딩은 그 정도가 지나치면 원래 형태의 특징을 왜곡시키거나, 이미지의 면적이 많이 감소될 수 있고 스무딩이 적으면 잡음이 충분히 제거되지 않는 문제점이 있다. 이 연구에서는 화소로 구성된 디지털 곡선에 대해서 반복적 평균 스무딩의 반복횟수, 이웃 점간의 거리, 평균을 위한 가중치와 스무딩 후의 점의 이동거리 등의 파라메터들 관계를 수학적으로 표현하고, 이 관계를 이용하여 스무딩 곡선을 입력곡선으로부터 허용오차 이내에 있도록 거리오차를 제어하는 방법과 스무딩 속도를 개선하는 방법을 제안한다.

• Communications for Statistical Applications and Methods
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• 제5권2호
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• pp.277-285
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• 1998

The smoothing parameter $\lambda$ in smoothing spline regression is usually selected by minimizing cross-validation (CV) or generalized cross-validation (GCV). But, simple CV or GCV is poor candidate for estimating prediction error. We defined MGCV (Multifold Generalized Cross-validation) as a criterion for selecting smoothing parameter in smoothing spline regression. This is a version of cross-validation using $leave-\kappa-out$ method. Some numerical results comparing MGCV and GCV are done.

• Ocean and Polar Research
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• 제39권2호
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• pp.73-84
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• 2017

The probability distribution of ichthyoplankton is important for enhancing the precision of sampling while reducing unnecessary surveys. To estimate the ichthyoplankton detection proportion (IDP) and its margin of error (ME), the monitoring information of the chub mackerel's (Scomber japonicus) ichthyoplankton presence-absence sampling data has been were collected over approximately 30 years (from 1982 to 2011) in the Korean coastal seas. Based on the computed spatial distributions of the mackerel's IDP and ME, the confidence interval (CI) range, defined as 2 ME, decreases from approximately 80% to 40% as the sample size n increases from 4 to 24 and the ME is approximately 40% in the typical (seasonal survey) case n = 4 per year. The IDP and ME off Jeju Island are relatively high at the 0.5-degree smoothing level. After increasing the spatial smoothing level to 1.0-degree, the ME decreased, and the spatial distribution pattern also changed due to the over-smoothing effects. In this study, the 0.5-degree smoothing is more suitable for the distribution pattern than the 1.0-degree smoothing level. The area of the high IDP and the low ME on the mackerel's ichthyoplankton was similar to the estimated spawning ground in the Korean peninsula. This information could contribute to enhancing for the spawning ecology surveys.