Journal of the Institute of Electronics Engineers of Korea SC (전자공학회논문지SC)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Designing Tracking Method using Compensating Acceleration with FCM for Maneuvering Target

FCM 기반 추정 가속도 보상을 이용한 기동표적 추적기법 설계

  • Son, Hyun-Seung (Dept. of Electrical and Electronic Engineering, Yonsei University) ;
  • Park, Jin-Bae (Dept. of Electrical and Electronic Engineering, Yonsei University) ;
  • Joo, Young-Hoon (Dept. of Control and Robot Engineering, Kunsan National University)
  • Received : 2011.07.07
  • Accepted : 2012.05.08
  • Published : 2012.05.25
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Abstract

This paper presents the intelligent tracking algorithm for maneuvering target using the positional error compensation of the maneuvering target. The difference between measured point and predict point is separated into acceleration and noise. Fuzzy c-mean clustering and predicted impact point are used to get the optimal acceleration value. The membership function is determined for acceleration and noise which are divided by fuzzy c-means clustering and the characteristics of the maneuvering target is figured out. Divided acceleration and noise are used in the tracking algorithm to compensate computational error. The filtering process in a series of the algorithm which estimates the target value recognize the nonlinear maneuvering target as linear one because the filter recognize only remained noise by extracting acceleration from the positional error. After filtering process, we get the estimates target by compensating extracted acceleration. The proposed system improves the adaptiveness and the robustness by adjusting the parameters in the membership function of fuzzy system. To maximize the effectiveness of the proposed system, we construct the multiple model structure. Procedures of the proposed algorithm can be implemented as an on-line system. Finally, some examples are provided to show the effectiveness of the proposed algorithm.

본 논문에서는 기동표적의 위치오차에서 구해지는 가속도를 보상하는 지능형 추적 알고리즘을 소개한다. 관측치와 예상위치와의 차이값은 가속도와 순수잡음으로 분리된다. 이때, 최적의 가속도를 얻기 위하여 퍼지 c-means 클러스터링 기법과 예상명중위치기법이 이용되었다. 분리된 가속도와 잡음에 대한 퍼지 이론의 멤버쉽 함수를 결정되고, 이에 따라 기동표적의 기동특성이 인식되어진다. 분리된 가속도와 잡음은 추적 알고리즘 내에서 추정된 오차값을 보상하는데 이용된다. 표적의 추정값을 계산하는 일련의 과정중 필터링 과정은 기동표적의 비선형성을 선형성으로 인식하게 된다. 이것은 필터가 위치오차에서 가속도를 추출하여 남겨진 잡음만을 인식하기 때문이다. 필터링 과정 이후 추출된 가속도를 보상하여 표적의 추정값을 구해낸다. 제안된 기법은 퍼지 시스템의 멤버쉽 함수에서 파라미터를 조절하여 적응성과 강인성을 향상 시켰다. 제안된 시스템의 효율성을 극대화하기 위하여 제안된 기법을 다중모델 구조로 형성한다. 또한 제안된 기법은 온라인 시스템으로서의 수행이 가능하다. 마지막으로 제안된 알고리즘의 효율성을 보여주기 위하여 몇 가지 예를 추가하였다.

Keywords

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