• 제어로봇시스템학회논문지
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• 제21권11호
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• pp.1057-1063
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• 2015

This paper proposes a new nonlinear filtering algorithm that combines the unscented Kalman filter (UKF) and the finite impulse response (FIR) filter. The proposed filter is called the unscented Kalman/FIR hybrid filter (UKFHF). In the UKFHF algorithm, the UKF is used as the main filter, which produces state estimates under ideal conditions. When failures of the UKF are detected, the FIR filter is operated. Using the output of the FIR filter, the UKF is reset and rebooted. In this way, the UKFHF recovers from failures. The proposed UKFHF is applied to indoor human localization using wireless sensor networks. Through simulations, the performance of the UKFHF is demonstrated in comparison with that of the UKF.

• 한국지리정보학회지
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• 제13권2호
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• pp.157-167
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• 2010

언센티드 칼만 필터 기반의 역방향 필터를 유도하고 시뮬레이션 테스트를 통하여 확장 칼만 필터, 언센티드 칼만 필터, 그리고 확장 칼만 스무더로부터의 위치결과와 비교 분석하였다. 시뮬레이션은 GPS의 수신환경이 극단적으로 좋지 않을 경우를 고려하여 $40m{\times}40m $ 의 공간에서 4개의 곡선 그리고 5개의 직선구간으로 이루어진 궤적에서 시작점과 끝점만을 기지점으로 가정하여 수행하였다. 실험 결과 스무더는 순방향 필터에 비하여 최대 위치 오차값이 약 8~9m 정도 크게 감소하는 결과를 보여주었다. 스무더의 경우 위치오차를 직선구간과 곡선구간으로 나누어 분석하였는데, 언센티드 칼만 스무더가 확장 칼만 스무더에 비하여 직선 구간에서는 최대 10cm, 곡선 구간에서는 최대 23cm 향상된 결과를 나타내었다.

• International Journal of Aeronautical and Space Sciences
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• 제11권2호
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• pp.80-86
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• 2010

We propose a spacecraft attitude estimation algorithm using a federated unscented Kalman filter. For nonlinear spacecraft systems, the unscented Kalman filter provides better performance than the extended Kalman filter. Also, the decentralized scheme in the federated configuration makes a robust system because a sensor fault can be easily detected and isolated by the fault detection and isolation algorithm through a sensitivity factor. Using the proposed algorithm, the spacecraft can continuously perform a given mission despite navigation sensor faults. Numerical simulation is performed to verify the performance of the proposed attitude estimation algorithm.

• Journal of Astronomy and Space Sciences
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• 제25권3호
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• pp.283-290
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• 2008

이 논문에서는 간섭계 구성의 기본이 되는 위성 간 상대위치 추정에 관한 알고리즘을 개발하고 검증하였다. 편대위성 간 상대위치 추정을 실시간으로 수행하기 위해 확장칼만필터 (EKF, Extended Kalman Filter)와 Unscented 칼만필터 (UKF, Unscented Kalman Filter) 를 사용하였다. 칼만 필터를 이용한 상태벡터 (state-vector)의 갱신(update)을 위한 관측 데이터는 시뮬레이션을 통해 얻어진 GPS 위성 신호의 단일차분 (Single Difference)에 대한 값을 사용하였다. 이 연구에서 개발한 알고리즘으로 추정된 편대위성 간 상대위치는 확장칼만필터와 Unscented 칼만필터 모두 참 값으로 가정한 STK(Satellite Tool Kit) 의 시뮬레이션된 관측 값에 대해 ${\pm}1m$ 이내의 오차로 수렴함을 확인하였다. 또한 두 종류의 칼만필터를 이용하여 상대위치 결정을 수행함으로써 비선 형성을 가지는 경우 Unscented 칼만필터의 성능이 상대적으로 우수함을 확인할 수 있었다.

• Journal of International Society for Simulation Surgery
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• 제2권1호
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• pp.17-25
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• 2015

Purpose In this paper, we propose a robust 3D vessel tracking algorithm by utilizing an active contour model and unscented Kalman filter which are the two representative algorithms on segmentation and tracking. Materials and Methods The proposed algorithm firstly accepts user input to produce an initial estimate of vessel boundary segmentation. On each Computed Tomography Angiography (CTA) slice, the active contour is applied to segment the vessel boundary. After that, the estimation process of the unscented Kalman filter is applied to track the vessel boundary of the current slice to estimate the inter-slice vessel position translation and shape deformation. Finally both active contour and unscented Kalman filter are inter-operated for vessel segmentation of the next slice. Results The arbitrarily shaped blood vessel boundary on each slice is segmented by using the active contour model, and the Kalman filter is employed to track the translation and shape deformation between CTA slices. The proposed algorithm is applied to the 3D visualization of chest CTA images using graphics hardware. Conclusion Through this algorithm, more opportunities, giving quick and brief diagnosis, could be provided for the radiologist before detailed diagnosis using 2D CTA slices, Also, for the surgeon, the algorithm could be used for surgical planning, simulation, navigation and rehearsal, and is expected to be applied to highly valuable applications for more accurate 3D vessel tracking and rendering.

• 제어로봇시스템학회논문지
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• 제14권9호
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• pp.898-903
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• 2008

In most cases, the trajectory of a ballistic missile is well explained by the Kepler's laws. It implies that the remaining trajectory of the ballistic missile including its final destination can be easily predicted if the position and velocity vector of the ballistic missile at any point on its path can be exactly known. Hence, an effective tracking algorithm based on an exact radar measurement model is very important for developing Ballistic Missile Defense(BMD) system. In this paper, we address to design a nonlinear filter, Unscented Kalman Filter(UKF), to track the ballistic missile.

• 한국마린엔지니어링학회:학술대회논문집
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• 한국마린엔지니어링학회 2005년도 후기학술대회논문집
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• pp.45-46
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• 2005

In this paper, a passive telemetry sensor system using Unscented Kalman Filter(UKF) is proposed. Specially, to show the effective tracking performance of the UKF, we compared with the tracking performance of Recursive Least Square Estimation (RLSE) using linearization.

• 제어로봇시스템학회논문지
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• 제12권8호
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• pp.780-788
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• 2006

This paper deals with INS/GPS tightly coupled integration algorithms using extend Kalman filter (EKF) and unscented Kalman filter (UKF). In the tightly coupled approach, nonlinear pseudorange measurement models are used for the INS/GPS integration Kalman filter. Usually, an EKF is applied for this task, but it may diverge due to poor functional linearization of the nonlinear measurement. The UKF approximates a distribution about the mean using a set of calculated sigma points and achieves an accurate approximation to at least second-order. We introduce the generalized scaled unscented transformation which modifies the sigma points themselves rather than the nonlinear transformation. The generalized scaled method is used to transform the pseudo range measurement of the tightly coupled approach. To compare the performance of the EKF- and UKF-based tightly coupled approach, real van test and simulation have been carried out with feedforward and feedback indirect Kalman filter forms. The results show that the UKF and EKF have an identical performance in case of the feedback filter form, but the superiority of the UKF is demonstrated in case of the feedforward filer form.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.241-245
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• 2005

Strapdown inertial navigation system (SINS) integrated with astronavigation system (ANS) yields reliable mission capability and enhanced navigational accuracy for spacecrafts. The theory and characteristics of integrated system based on unscented Kalman filtering is investigated in this paper. This Kalman filter structure uses unscented transform to approximate the result of applying a specified nonlinear transformation to a given mean and covariance estimate. The filter implementation subsumed here is in a direct feedback mode. Axes misalignment angles of the SINS are observation to the filter. A simple approach for simulation of axes misalignment using stars observation is presented. The SINS error model required for the filtering algorithm is derived in space-stabilized mechanization. Simulation results of the integrated navigation system using a medium accuracy SINS demonstrates the validity of this method on improving the navigation system accuracy with the estimation and compensation for gyros drift, and the position and velocity errors that occur due to the axes misalignments.

• 한국지능시스템학회:학술대회논문집
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• 한국지능시스템학회 2008년도 춘계학술대회 학술발표회 논문집
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• pp.168-173
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• 2008

본 연구는 UKF Algorithm을 이용한 정전용량형 원격RF센서시스템을 개발하였다. 원격 RF센서 시스템이란 wireless, implantable 그리고 batterless을 만족하는 센서 시스템을 의미한다. 기존의 원격 RF센서 시스템은 보편적으로 집적회로 타입을 채택하지만, 그 구조의 복잡성과 전력소모의 제약을 받는다. 이러한 제약을 해결하기 위해 본 연구에서는 R, L 그리고 C만으로 구성되어있는 유도결합원리를 이용한 원격 RF센서 시스템을 제안하였다. 제안된 RF 센서 시스템은 압력 혹은 습도와 같은 환경의 변화를 정전용량 값으로 측정할 수 있으며 센서의 정전 용량 값을 측정하기 위해 비선형시스템의 파라메타추정에 적합한 Unscented Kalman Filter(UKF) 기법을 채택하였다. UKF 기법을 이용하기 위해 제안된 시스템은 페이저법을 사용하여 수학적으로 모델링되었다. 마지막으로, 제안된 UKF 알고리즘을 이용한 원력 RF센서시스템이 잡음환경에서도 정전용량값을 비교적 정확하게 추정가능함을 확인하였다.