• 한국군사과학기술학회지
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• 제18권5호
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• pp.517-524
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• 2015

In this paper, we propose a new target tracking filter architecture using active and passive sensors in underwater environment. A passive sensor for target tracking needs a bearing measurement of target. And target tracking filter for using passive sensor has the observability problem. On the other hand, an active sensor does not have the problem associated with system observability problem because an active sensor uses bearing and range measurement. In this paper, the tracking filter algorithm that could be used in the active and passive sensor system is proposed to analyze maneuvering target and to improve target tracking performance. The proposed tracking filter algorithm is tested by a series of computer simulation runs and the results are analyzed and compared with existing algorithm.

• 제어로봇시스템학회논문지
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• 제22권2호
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• pp.133-138
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• 2016

This paper describes the track initiation and target-tracking filter for ship tracking in a marine environment by using Light Detection And Ranging (LiDAR). LiDAR with three-dimensional scanning capability is more useful for target tracking in the short to medium range compared to RADAR. LiDAR has rotating multi-beams that return point clouds reflected from targets. Through preprocessing the cluster of the point cloud, the center point can be obtained from the cloud. Target tracking is carried out by using the center points of targets. The track of the target is initiated by investigating the normalized distance between the center points and connecting the points. The regular track obtained from the track initiation can be maintained by the target-tracking filter, which is commonly used in radar target tracking. The target-tracking filter is constructed to track a maneuvering target in a cluttered environment. The target-tracking algorithm including track initiation is experimentally evaluated in a sea-trial test with several boats.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.426-429
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• 1997

This paper proposes a robust H$_{\infty}$ tracking filter to improve the unacceptable target tracking performance for systems with parameter uncertainties. Also, we use here the input estimation approach to account for the possibility of maneuver. Simulation results show that the robust H$_{\infty}$ tracking filter which is proposed here to solve the systems with all system parameter uncertainties, has a good tracking performance for a maneuvering target tracking problem.m.

• 한국군사과학기술학회지
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• 제8권3호
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• pp.24-32
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• 2005

This paper describes the tracking filter performance for Naval Gun Ballistic Computation Unit(BCU). BCU needs tracing filter for gun firing. Using data of tracking sensor, BCU calculates the future position of Target and Gun order in the time of flight. In this paper, tracing filter is designed with interacting multiple model(IMM). The tracking algorithm based on the IMM requirers a considerable number of sub-model for the various maneuvering target in order to have a good performance. But, in the case of ship target, the maneuvering is restricted compared with the air target. Considering the maneuvering properties and adjusting the mode transition probabilities and the process noise of sub-model, We designed the IMM3 algorithm for Naval tracking filter with three sub-model.

• 전기전자학회논문지
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• 제11권4호
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• pp.137-144
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• 2007

함포의 사격통제장치 성능은 크게 하드웨어(H/W)적인 오차와 소프트웨어(S/W)적인 오차로 구분할 수 있으며, 이중 S/W 오차에 해당하는 표적의 위치, 속도, 가속도 등을 추정하는 추적필터 오차는 탄도계산장치의 성능에 중요한 영향을 미친다. 함포의 정확한 예상탄착점 형성과 사격시 명중률 향상을 위하여 정확한 미래위치의 표적 상태정보가 필요하다. 표적 추적필터 알고리즘은 Single Singer Model, Fixed Gain 필터 알고리즘, IMM, PBIMM등이 있다. 본 논문에서는 최근 국내 함정에 적용예정인 IMM 추적필터를 설계하였다. IMM 추적필터를 위해 CV모델, Song 모델, CTR모델을 사용하여 동역학 모델을 만들었으며, 추적성능을 Monte-Carlo 시뮬레이션을 통해 해석해 보았다.

• 한국컴퓨터정보학회논문지
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• 제22권12호
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• pp.55-61
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• 2017

In this paper, we propose a novel tracking method using target separation and detection that are based on discriminative correlation filter (DCF), which is studied a lot recently. 'Retainability' is one of the most important factor of tracking. There are some factors making retainability of tracking worse. Especially, fast movement and occlusion of a target frequently occur in image data, and when it happens, it would make target lost. As a result, the tracking cannot be retained. For maintaining a robust tracking, in this paper, separation of a target is used so that normal tracking is maintained even though some part of a target is occluded. The detection algorithm is executed and find new location of the target when the target gets out of tracking range due to occlusion of whole part of a target or fast movement speed of a target. A variety of experiments with various image data sets are conducted. The algorithm proposed in this paper showed better performance than other conventional algorithms when fast movement and occlusion of a target occur.

• Transactions on Electrical and Electronic Materials
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• 제14권4호
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• pp.187-192
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• 2013

Because of the importance of small target detection in infrared images, many studies have been carried out in this area. Using a Kalman filter and mean shift algorithm, this study proposes an algorithm to track multiple small moving targets even in cases of target disappearance and appearance in serial infrared images in an environment with many noises. Difference images, which highlight the background images estimated with a background estimation filter from the original images, have a relatively very bright value, which becomes a candidate target area. Multiple target tracking consists of a Kalman filter section (target position prediction) and candidate target classification section (target selection). The system removes error detection from the detection results of candidate targets in still images and associates targets in serial images. The final target detection locations were revised with the mean shift algorithm to have comparatively low tracking location errors and allow for continuous tracking with standard model updating. In the experiment with actual marine infrared serial images, the proposed system was compared with the Kalman filter method and mean shift algorithm. As a result, the proposed system recorded the lowest tracking location errors and ensured stable tracking with no tracking location diffusion.

• 대한전기학회논문지:전력기술부문A
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• 제48권3호
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• pp.270-277
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• 1999

This paper deals with the maneuver detection and target tracking problem in uncertain parameter systems using a robust{{{{ { H}_{ } }}}} FIR filter to improve the unacceptable tracking performance due to the parametr uncertainty. The tracking filter used in the current paper is based on the robust{{{{ { H}_{ } }}}} FIR filter proposed by Kwon et al. [1,2] to estimate the state signal in uncertain systems with parameter uncertainty, and the basic scheme of the proposed method is the input estimation approach. Tracking performance of the maneuver detection and target tracking method proposed is compared with other techniques, Bogler allgorithm [4] and FIR tracking filter [2], via some simulations to examplify the good tracking performance of the proposed method over other techniques.

• 한국군사과학기술학회지
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• 제14권3호
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• pp.517-523
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• 2011

The estimation filter in radar systems must track targets' position within low tracking error. In the Multi-Function Radar(MFR), ${\alpha}-{\beta}$ filter and Kalman filter are widely used to track single or multiple targets. However, due to target maneuvering, these filters may not reduce tracking error, therefore, may lost target tracks. In this paper, a target tracking filter based on particle filtering algorithm is proposed for the MFR. The advantage of this method is that it can track targets within low tracking error while targets maneuver and reduce impoverishment of particles by the proposed resampling method. From the simulation results, the improved tracking performance is obtained by the proposed filtering algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.108-113
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• 1991

In this paper, an improved method for tracking maneuvering target is proposed. The proposed tracking filter is constructed by combining the input estimation approach with the variable dimension filtering approach. In this approach, the filter also provides the estimated time instant at which target starts maneuver, when the target maneuver is detected. Using this estimated maneuvering time, the maneuver input is estimated and the tracking system changes to the maneuver model. Simulations are performed to demonstrate the efficiency of the proposed tracking filter.