• International Journal of Control, Automation, and Systems
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• v.3 no.3
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• pp.486-492
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• 2005

A practical recursive WLS (weighted least squares) algorithm is proposed to estimate relative range using LOS (line-of-sight) information for ASM (anti-ship missile) application. Apart from the previous approaches based on the EKF (extended Kalman filter), to ensure good convergence properties in long range engagement situations, the proposed scheme utilizes LOS rate measurements instead of conventionally used LOS angle measurements. The estimation error property for the proposed filter is investigated and a simple error compensator is devised to enhance its estimation error performances. Simulation results indicate that the proposed filter produces very accurate range estimates with extremely small computations.

• Proceedings of the Acoustical Society of Korea Conference
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• 1984.12a
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• pp.100-106
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• 1984

Traditional methods for estimating the location of underwater target, i.e. the triangulation method and the wavefront curvature method, have been utilized. The location of a target is defined by the range and the bearing, which estimates can be obtained by evaluating the time delay between neighboring sensors. Many components of error occur in estimating the target range, among which the error due to the fluctuation of heading angle is outstanding. In this paper, the wavefront curvature method was used. We considered the error due to the heading fluctuation as the $\beta$-density process, from which we analized the range estimates with $\beta$-density function exist in some finite limits, and its mean value and variation are depicted as a function of true range and heading fluctuation. Given heading angles and sensor separation, maximum estimated heading errors are presented as a function of true range.

• Journal of Advanced Marine Engineering and Technology
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• v.28 no.4
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• pp.641-647
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• 2004

By most sensorless speed control schemes for induction motor. the control performances in high speed range are good, but it is difficult to obtain satisfactory results in low speed region. This paper proposes a new method controlling the low and the high speed regions separately to attain the stable operation in the overall range. The current error compensation method, in which the controlled stator voltage is applied to the induction motor so that the error between stator currents of the numerical model and the actual motor can be forced to decay to zero as time proceeds. is used in the low speed region In the high speed region. the method with adaptive observer is utilized. This control strategy contains an adaptive state observer for flux estimation. The rotor speed can be calculated from the rotor flux and the motor currents. The experimental results indicate good speed and load responses from the very low speed range to the high, and also show accurate speed changing performance between the low and the high speed range.

• Journal of Navigation and Port Research
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• v.34 no.7
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• pp.511-516
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• 2010

GPS anomaly has increased according to the degradation of satellite performance, and many GPS users could be exposed to any kinds of error-included signals without any previous notice when unscheduled error occurred. RSIM (Reference Station Integrity Monitors) is a typical monitoring method to broadcast PRC (Pseudo Range Correction) for users. However, there were some cases that the receiver detected the anomalous satellite's signal even though it was unhealthy set, consequently it occurred a large range error. Then it is important to monitor the integrity of GPS signal and it is needed to devise the correction method of pseudorange by eliminating error-occurred PRN for notification to GPS users when it is monitored that the anomaly occurred. This paper proposes the basic concept of how to correct the pseudorange. The paper also shows the analysis results of PRN10 GPS anomaly occurred on day 39 in 2007 with corrected results by eliminating anomaly satellite (PRN10). The proposed correction method shows decreased pseudorange error range compared to the case when the anomaly satellite were used.

• Korean Journal of Veterinary Research
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• v.14 no.2
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• pp.173-177
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• 1974

Thirty of healthy non-pregnant Holstein cows being raised in the vicinity of Daejeon, which had been delivered of calves 4 to 6 times since they were imported to Korea, were selected with the purpose of serum chemical analysis. Total protein, albumin, globulin, total cholesterol, urea nitrogen and glucose and A/G ratio were investigated. The results of present investigation were summarized as follows: 1. Ranges and mean values (with standard error) of total protein, albumin and globulin were 6.87~8.58g/100ml, $7.75{\pm}0.60g/100ml$; 2.6~3.5g/100ml(37.1~45.0%), $3.26{\pm}0.27g/100ml$(40.1%); and 3.78~5.48g/100ml(55.1~64.6%), $4.51{\pm}0.43g/100ml$(58.1%), respectively. 2. Range and mean value (with standard error) of A/G ratio were 0.52~0.86 and 0.73~0.093. 3. Range and mean value (with standard error) of glucose were 35~50mg/100ml and $45.2{\pm}9.1mg/100ml$. 4. Range and mean value(with standard error) of total cholesterol were 122~228mg/100ml and $194.6{\pm}11.1mg/100ml$. 5. Serum urea nitrogen showed that the range of 10.5~15.1mg/100ml and the mean value(with standard error) of $12.7{\pm}1.5mg/100ml$.

• Journal of Ocean Engineering and Technology
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• v.19 no.6 s.67
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• pp.78-85
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• 2005

Initial alignment and localization are important topics in inertial navigation systems, since misalignment and initial position error wholly propagate into the navigation systems and deteriorate the performance of the systems. This paper presents the error convergence characteristics of the hybrid navigation system for underwater vehicles initial position, which is based on an inertial measurement unit (IMU) accompanying a range sensor. This paper demonstrates the improvement on the navigational performance oj the hybrid system with the range information, especially focused on the convergence of the estimation of underwater vehicles initial position error. Simulations are performed with experimental data obtained from a rotating ann test with a fish model. The convergence speed and condition of the initial error removal for random initial position errors are examined with Monte Carlo simulation. In addition, numerical simulation is conducted with an AUV model in lawn-mowing survey mode to illustrate the error convergence of the hybrid navigation System for initial position error.

• The Journal of the Acoustical Society of Korea
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• v.20 no.6
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• pp.75-81
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• 2001

In this paper we analyzed the localization error of near-field detection algorithm in the sea. The near-field detection algorithms using triangulation and wavefront curvature basically assume a signal in two dimension of bearing and range. But the assumption causes localization error because there is three dimension of bearing, range, and depth in the sea. Even through three dimensional effect is considered, the localization error is occurred if multipath propagation in the sea is ignored. To analyze the localization error in the sea, we simulate the near-field localization using acoustic propagation model and focused beamforming considering wavefront curvature. The simulation results indicate that localization error always occurs in the sea and the error varied with sound velocity profile, water depth, bottom slope, source range, etc.

• Journal of Advanced Marine Engineering and Technology
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• v.27 no.5
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• pp.641-647
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• 2003

The use of infrared range-finder sensor as the environment recognition system for mobile robot have the advantage of low sensing cost compared with the use of other vision sensor such as laser finder CCD camera. However, it is not easy to find the previous works on the use of infrared range-finder sensor for a mobile robot because of the non-linear characteristic of that. This paper describes the error due to non-linearity of a sensor and the correction of it using neural network. The neural network consists of multi-layer perception and Levenberg-Marquardt algorithm is applied to learning it. The effectiveness of the proposed algorithm is verified from experiment.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.58 no.1
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• pp.72-78
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• 2009

We have developed a current range extension method to obtain the ratio error and phase displacement of a current transformer (CT) by using absolute evaluation method and two different CTs. The method was applied to CTs under test with the current ratios in the range of 5,000 A / 1 A - 20,000 A / 1 A. The ratio error and phase displacement of the CT under test obtained in this study are consistent with those measured at the national institute in Germany using the same CT under test within an expanded uncertainty (k = 2) in the overall current ratios.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.9
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• pp.922-931
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• 2011

An efficient calibration algorithm for mobile robot localization using infrared range finder is proposed. A calibration is important to guarantee the performance of other algorithms which use sensor data because it is pre-process. We experimentally found that the infrared range finder PBS-03JN has error characteristics depending on both distance and scan angle. After obtaining 2-D grid error characteristic data on distance and scan angle, we proposed a simple and efficient calibration algorithm with a 2-D piecewise linear function set. The performance of our proposed calibration algorithm is verified by experiments and simulation.