• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.335-336
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• 2011

• 제어로봇시스템학회논문지
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• 제19권8호
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• pp.718-724
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• 2013

In today's automotive industry, there exist several systems that help drivers reduce the possibility of accidents, such as the ADAS (Advanced Driver Assistance System). The ADAS helps drivers make correct and quick decisions during dangerous situations. This study analyzed the performance of the IMM (Interacting Multiple Model) method based on multiple Kalman filters using the data acquired from a driving simulator. An IMM algorithm is developed to identify the current discrete state of neighboring vehicles using the sensor data and the vehicle dynamics. In particular, the driving modes of the neighboring vehicles are classified by the cruising and maneuvering modes, and the transition between the states is modeled using a Markovian switching coefficient. The performance of the IMM algorithm is analyzed through realistic simulations where a target vehicle executes sudden lane change or acceleration maneuver.

• 한국군사과학기술학회지
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• 제23권1호
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• pp.18-27
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• 2020

In order to estimate the launch point of a high-speed vehicle, predicting the various characteristics of the vehicle's movement, such as drag and thrust, must be preceded by the estimation. To predict the various parameters regarding the vehicle's characteristics, we build the IMM filter specialized in predicting the parameters of the post-launch phase based on flight dynamics. Then we estimate the launch point of the high-speed vehicle using Inverse Dynamics. In addition, we assume the arbitrary error level of the radar for accuracy of the prediction. We organize multiple-dimensioned IMM structures, and figure out the optimal value of parameters by comparing the various IMM structures. After deriving the optimal value of parameters, we verify the launch point estimation error under certain error level.

• 전자공학회논문지B
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• 제30B권12호
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• pp.59-66
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• 1993

In this paper we propose an adaptive update rate tracking algorithm for a phased array radar, based on the interacting multiple model(IMM) algorithm. The purpose of the IMM algorithm hers is twofold: 1) to estimate and predict the target states, and 2) to estimate the level of the process noise. Using the estimate of the process noise level adapted to target dynamics, the update interval is determined to maintain a desired prediction accuracy so that the radar system load is minimized. The adaptive update rate tracking algorithm is implemented for a phased array radar and evaluated with Monte Carlo simulations on various trajectories. The evaluation results of the proposed algorithm and a standard Kalman filter without the adaptive update rate control are presented to compare.

• 한국지능시스템학회논문지
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• 제12권6호
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• pp.497-502
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• 2002

기동표적의 추적문제는 상태추정의 분야에서 수 십 년에 걸쳐 연구되어 왔다. 칼만 필터는 표적의 상태를 추정하기 위해 널리 사용되어 왔으나, 기동이 발생할 경우, 그 성능은 현저히 저하될 수 있다. 본 논문에서는 이러한 문제점을 해결하고, 기동표적을 효과적으로 추적하기 위해, DNA 코딩에 기반한 상호작용 다중모델 기법을 제안한다. 제안된 기법은 DNA 코딩에 기반한 퍼지 논리를 이용함으로써, 기존의 기법들의 수학적 한계를 극복할 수 있다. 컴퓨터 모의실험을 통하여, 제안된 기법의 추적 성능은 적응 상호작용 다중모델 기법 및 유전 알고리즘 기반 상호작용 다중모델 기법과 비교된다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1669-1674
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• 2004

In this paper, a nonlinear information filter (IF) for curvilinear motions in an interacting multiple model (IMM) algorithm to track a maneuvering vehicle on a road is investigated. Driving patterns of vehicles on a road are modeled as stochastic hybrid systems. In order to track the maneuvering vehicles, two kinematic models are derived: A constant velocity model for linear motions and a constant-speed turn model for curvilinear motions. For the constant-speed turn model, a nonlinear IF is used in place of the extended Kalman filter in nonlinear systems. The suggested algorithm reduces the root mean squares error for linear motions and rapidly detects possible turning motions.

• 전기학회논문지
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• 제56권8호
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• pp.1476-1483
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• 2007

In a multi-sensor target tracking systems, the local sensors have the role of tracking the target and transferring the measurements to the fusion center. The measurements from the same target can arrive out of sequence called, the out-of-sequence measurements(OOSMs). The OOSM can arise in a form of single-lag or multi-lag throughout the transfer at the fusion center. The recursive retrodiction step was proposed to update the current state estimates with the multi-lag OOSM from the several previous papers. The real world has the possible situations that the maneuvering target informations can arrive at the fusion center with the random clutter in the possible OOSMs. In this paper, we incorporate the IMM-MPDA(Interacting Multiple Model - Most Probable Data Association) into the multi-lag OOSM update. The performance of the IMM-MPDA filter with multi-lag OOSM update is analyzed for the various clutter densities, OOSM lag numbers, and target maneuvering indexes. Simulation results show that IMM-MPDA is sufficient to be used in out of sequence environment and it is necessary to correct the current state estimates with OOSM except a very old OOSM.

• Nuclear Engineering and Technology
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• 제53권2호
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• pp.532-548
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• 2021

Nuclear power plants contain several monitoring systems that can identify the in-vessel phenomena of a severe accident (SA). Though a lot of analysis and research is carried out on SA, right from the development of the nuclear industry, not all the possible circumstances are taken into consideration. Therefore, to improve the efficacy of the safety of nuclear power plants, additional analytical studies are needed that can directly monitor severe accident phenomena. This paper presents an interacting multiple model (IMM) based fault detection and diagnosis (FDD) approach for the identification of in-vessel phenomena to provide the accident propagation information using reactor vessel (RV) out-wall temperature distribution during severe accidents in a nuclear power plant. The estimation of wall temperature is treated as a state estimation problem where the time-varying wall temperature is estimated using IMM employing three multiple models for temperature evolution. From the estimated RV out-wall temperature and rate of temperature, the in-vessel phenomena are identified such as core meltdown, corium relocation, reactor vessel damage, reflooding, etc. We tested the proposed method with five different types of SA scenarios and the results show that the proposed method has estimated the outer wall temperature with good accuracy.

• 시스템엔지니어링학술지
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• 제5권1호
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• pp.1-6
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• 2009

Gun fire solution computed in ballistic computing unit (BCU) needs to evaluated before applying in real fire. In this paper, ballistic performance analysis method is studied for reasonable prediction or hit probability with ballistics error presentation on hitting plane. Also Gun fire solution using interacting multiple model (IMM) algorithm is analyzed through proposed method.

• 한국항공우주학회지
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• 제50권8호
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• pp.541-550
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• 2022

IMM 필터 및 GLRT 기법을 이용하여 무인기용 엔진의 효과적인 실시간 결함 진단 방안을 도출하였다. 이를 위해서 엔진 동적 사이클해석으로부터 선형 진단 모델을 유도하고 잔차 추정을 위한 칼만필터를 도입한 후 각 기법의 특성을 고찰하여 엔진 제어 구동기 및 센서의 결함 진단에 적용하였다. 이 과정에서 IMM 필터로부터 효과적인 FDI 방안을 도출하였고 구동기 결함으로 인한 상태변수의 반응값을 추정하였으며, GLRT로부터는 구동기 및 센서의 결함값 추정과 FDI 기능을 확인하였다. 수치 모의시험 결과를 통해서 FDI를 위한 IMM 필터의 효용성과 각 결함 모드의 결함값 추정을 위한 GLRT 기법의 효용성을 확인하였다.