• 한국통신학회논문지
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• 제35권11A호
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• pp.1078-1084
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• 2010

신호 추적 및 데이터 획득을 위하여 사용되는 접시형 추적안테나시스템의 추적정확도는 시스템 내부 요인뿐만 아니라 외적인 요인에 의하여 영향을 받는다. 본 논문은 무선주파수를 사용한 비행체 추적 및 위치측정에 있어서 전파굴절에 의한 추적오차를 나로우주센터에서 운용중인 2 GHz 원격측정 안테나 및 5 GHz 추적레이더로 추적한 항공기 및 위성발사체 추적결과와 GPS 측정한 결과를 이용하여 분석한다. 분석을 위하여, 추적시스템의 추적오차 원인 및 원인별 오차범위, 추적시스템의 정확도 검증결과 및 굴절율 특성을 바탕으로 전파굴절과 추적오차의 연관성을 검토한다. 분석결과, 안테나 고각 10 도 이하에서 전파굴절에 의한 각도오차가 사용된 추적안테나시스템 및 GPS의 측정오차에 비하여 무시할 수 없을 정도로 큰 것을 확인하였다. 또한, 대류권내에 있는 비행체(신호원)에 대한 추적각도는 안테나 고각뿐만 아니라 비행체 고도에 의해 영향을 받으며, 정확한 비행체 위치 측정을 위해서는 이를 보정하여야 하는 것으로 분석되었다.

• 대한임베디드공학회논문지
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• 제16권5호
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• pp.163-169
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• 2021

In this paper, we implemented a deep learning-based automatic object tracking and handy motion control drone system and analyzed the performance of the proposed system. The drone system automatically detects and tracks targets by analyzing images obtained from the drone's camera using deep learning algorithms, consisting of the YOLO, the MobileNet, and the deepSORT. Such deep learning-based detection and tracking algorithms have both higher target detection accuracy and processing speed than the conventional color-based algorithm, the CAMShift. In addition, in order to facilitate the drone control by hand from the ground control station, we classified handy motions and generated flight control commands through motion recognition using the YOLO algorithm. It was confirmed that such a deep learning-based target tracking and drone handy motion control system stably track the target and can easily control the drone.

• 디지털산업정보학회논문지
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• 제19권2호
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• pp.47-55
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• 2023

Recently, Sensor technologies are emerging to prevent traffic accidents and support safe driving in complex environments where human perception may be limited. The UWS is a technology that uses an ultrasonic sensor to detect objects at short distances. While it has the advantage of being simple to use, it also has the disadvantage of having a limited detection distance. The LDWS, on the other hand, is a technology that uses front image processing to detect lane departure and ensure the safety of the driving path. However, it may not be sufficient for determining the driving environment around the vehicle. To overcome these limitations, a system that utilizes FMCW radar is being used. The BSD radar system using FMCW continuously emits signals while driving, and the emitted signals bounce off nearby objects and return to the radar. The key technologies involved in designing the BSD radar system are tracking algorithms for detecting the surrounding situation of the vehicle. This paper presents a tracking algorithm for designing a BSD radar system, while explaining the principles of FMCW radar technology and signal types. Additionally, this paper presents the target tracking procedure and target filter to design an accurate tracking system and performance is verified through simulation.

• 한국군사과학기술학회지
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• 제9권3호
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• pp.33-40
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• 2006

In towed array passive sonar system, sonar operators cannot detect and track the all targets simultaneously in the omni-directional area by just Operator Initiated Tracking(OIT). In this paper, omni-directional automatic target detection and tracking algorithm is described and optimize the parameters through ocean data to overcome the drawbacks of OITs. The algorithm is verified through sea trials with submarines.

• 한국군사과학기술학회지
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• 제10권2호
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• pp.21-30
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• 2007

A practical method to design the input shaping which generates control command is proposed in this paper, We suggest an experimental technique considering human operator's target tracking error to improve aiming accuracy which significantly affects hit probability. It is known that stabilization performance is one of the most important factors for ground combat vehicle system. In particular, stabilization error of the manual target tracking system mounted on moving vehicle directly affects hit probability. To reduce this error, we applied input command shaping method using preprocessing filtering and functional curve fitting. First of all, we construct the human operator model to consider effects of human operator on our system. Input shaping curve is divided into several regions to get rid of the above problems and to improve the system performance. At example design part, we chose three steps of functional command curve and determine the parameters of the function by the proposed design method. In order to verify the proposed design method, we carried out the experiments with real plant of a fighting vehicle.

• 한국항행학회논문지
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• 제25권3호
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• pp.217-222
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• 2021

EOTS(electro-optical tracking system)는 유도무기의 성능 평가를 위해 유도무기를 추적하여 영상을 획득하는데 활용되고 있다. 유도무기에 대한 추적을 잃어버렸을 경우 유도무기가 매우 빠르게 비행하기 때문에 운용자가 이를 다시 포착하는 것은 거의 불가능하다. 레이더나 텔레메트리 데이터를 활용하여 재 포착 하는 방법이 활용되고 있으나 데이터를 실시간으로 수신할 수 있는 통신망의 설치가 수반되어야하기 때문에 장소에 대한 제약이 따른다. 하지만 유도무기 비행시험 수행 시 계산되는 예상 궤적은 실시간으로 수신할 필요 없이 저장해두었다가 사용할 수 있기 때문에 통신망 설비와 관계없이 활용이 가능하다. 본 논문에서는 미리 알고 있는 비행체의 예상 궤적을 활용하여 비행체를 잃어버렸을 시 비행체의 위치를 예상하는 방법을 제안한다. DTW (dynamic time warping)를 통해 예상궤적과 추적궤적을 비교하여 비행체의 각속도를 추정하고 이를 Kalman Filter의 보정단계에서 관측 값으로 활용하여 비행체의 다음 상태를 예측한다. 제안한 방법의 타당성을 실제 비행체 궤적에 적용하여 검증하였다.

• The Journal of the Acoustical Society of Korea
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• 제17권3E호
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• pp.22-26
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• 1998

This paper proposes a simple method to measure system's performance in target tracking problems. Essentially employing the Cramer-Rao Lower Bound (CRLB) on tracking accuracy, an algorithm of predicting system's performance under various scenarios is developed. The input data is a collection of measurements over tim from sensors embedded in Gaussian noise. The target of interest may not maneuver over the processing time interval while the own ship observing platform may maneuver in an arbitrary fashion. The proposed approach is demonstrated and discussed through simulation results.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2008년도 하계종합학술대회
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• pp.1203-1204
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• 2008

In this paper, a new stereo object tracking system using the disparity motion vector is proposed. In the proposed method, the time-sequential disparity motion vector can be estimated from the disparity vectors which are extracted from the sequence of the stereo input image pair and then using these disparity motion vectors, the area where the target object is located and its location coordinate are detected from the input stereo image. Basing on this location data of the target object, the pan/tilt embedded in the stereo camera system can be controlled and as a result, 3D tracking of the target object can be possible.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.696-701
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• 2004

A vehicle cruise control algorithm using an Interacting Multiple Model (IMM)-based Multi-Target Tracking (MTT) method has been presented in this paper. The vehicle cruise control algorithm consists of three parts; track estimator using IMM-Probabilistic Data Association Filter (PDAF), a primary target vehicle determination algorithm and a single-target adaptive cruise control algorithm. Three motion models; uniform motion, lane-change motion and acceleration motion, have been adopted to distinguish large lateral motions from longitudinal motions. The models have been validated using simulated and experimental data. The improvement in the state estimation performance when using three models is verified in target tracking simulations. The performance and safety benefits of a multi-model-based MTT-ACC system is investigated via simulations using real driving radar sensor data. These simulations show system response that is more realistic and reflective of actual human driving behavior.

• 전자공학회논문지
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• 제49권10호
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• pp.209-216
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• 2012

본 논문에서는 실시간 적외선 감시시스템을 위하여 표적 영상의 평균 밝기, 면적, 종횡비로 구성된 영상특징들을 이용한 새로운 추적 방법을 제시한다. 지상 표적의 영상특징들의 시간적 변화는 수학적으로 지수함수적 상관함수를 갖는 랜덤프로세서로 모델링할 수 있다. 기존의 추적 필터에서 사용되어져 온 표적의 운동을 표현하는 표적의 위치, 속도성분뿐만 아니라, 표적의 기하학적 영상특징들을 모두 포함하는 상태벡터의 이산시간 동역학방정식 및 측정방정식을 유도했다. 시뮬레이션 결과 기존의 표적 위치 및 속도정보만 이용한 경우보다 제안된 추적방법이 추적정확도가 월등히 높음을 알 수 있었다.