• Title/Summary/Keyword: 오차 필터링 모델

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Improvement of Position Estimation Based on the Multisensor Fusion in Underwater Unmanned Vehicles (다중센서 융합 기반 무인잠수정 위치추정 개선)

  • Lee, Kyung-Soo;Yoon, Hee-Byung
    • Journal of the Korean Institute of Intelligent Systems
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    • v.21 no.2
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    • pp.178-185
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    • 2011
  • In this paper, we propose the position estimation algorithm based on the multisensor fusion using equalization of state variables and feedback structure. First, the state variables measured from INS of main sensor with large error and DVL of assistance sensor with small error are measured before prediction phase. Next, the equalized state variables are entered to each filter and fused the enhanced state variables for prediction and update phases. Finally, the fused state variables are returned to the main sensor for improving the position estimation of UUV. For evaluation, we create the moving course of UUV by simulation and confirm the performance of position estimation by applying the proposed algorithm. The evaluation results show that the proposed algorithm is the best for position estimation and also possible for robust position estimation at the change period of moving courses.

Adaptive Noise Removal Based on Nonstationary Correlation (영상의 비정적 상관관계에 근거한 적응적 잡음제거 알고리듬)

  • 박성철;김창원;강문기
    • Journal of Broadcast Engineering
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    • v.8 no.3
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    • pp.278-287
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    • 2003
  • Noise in an image degrades image quality and deteriorates coding efficiency. Recently, various edge-preserving noise filtering methods based on the nonstationary image model have been proposed to overcome this problem. In most conventional nonstationary image models, however, pixels are assumed to be uncorrelated to each other in order not to Increase the computational burden too much. As a result, some detailed information is lost in the filtered results. In this paper, we propose a computationally feasible adaptive noise smoothing algorithm which considers the nonstationary correlation characteristics of images. We assume that an image has a nonstationary mean and can be segmented into subimages which have individually different stationary correlations. Taking advantage of the special structure of the covariance matrix that results from the proposed image model, we derive a computationally efficient FFT-based adaptive linear minimum mean-square-error filter. Justification for the proposed image model is presented and effectiveness of the proposed algorithm is demonstrated experimentally.

Particle filter for Correction of GPS location data of a mobile robot (이동로봇의 GPS위치 정보 보정을 위한 파티클 필터 방법)

  • Noh, Sung-Woo;Kim, Tae-Gyun;Ko, Nak-Yong;Bae, Young-Chul
    • The Journal of the Korea institute of electronic communication sciences
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    • v.7 no.2
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    • pp.381-389
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    • 2012
  • This paper proposes a method which corrects location data of GPS for navigation of outdoor mobile robot. The method uses a Bayesian filter approach called the particle filter(PF). The method iterates two procedures: prediction and correction. The prediction procedure calculates robot location based on translational and rotational velocity data given by the robot command. It incorporates uncertainty into the predicted robot location by adding uncertainty to translational and rotational velocity command. Using the sensor characteristics of the GPS, the belief that a particle assumes true location of the robot is calculated. The resampling from the particles based on the belief constitutes the correction procedure. Since usual GPS data includes abrupt and random noise, the robot motion command based on the GPS data suffers from sudden and unexpected change, resulting in jerky robot motion. The PF reduces corruption on the GPS data and prevents unexpected location error. The proposed method is used for navigation of a mobile robot in the 2011 Robot Outdoor Navigation Competition, which was held at Gwangju on the 16-th August 2011. The method restricted the robot location error below 0.5m along the navigation of 300m length.

Improving Orbit Determination Precision of Satellite Optical Observation Data Using Deep Learning (심층 학습을 이용한 인공위성 광학 관측 데이터의 궤도결정 정밀도 향상)

  • Hyeon-man Yun;Chan-Ho Kim;In-Soo Choi;Soung-Sub Lee
    • Journal of Advanced Navigation Technology
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    • v.28 no.3
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    • pp.262-271
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    • 2024
  • In this paper, by applying deep learning, one of the A.I. techniques, through angle information, which is optical observation data generated when observing satellites at observatories, distance information from observatories is learned to predict range data, thereby increasing the precision of satellite's orbit determination. To this end, we generated observational data from GMAT, reduced the learning data error of deep learning through preprocessing of the generated observational data, and conducted deep learning through MATLAB. Based on the predicted distance information from learning, trajectory determination was performed using an extended Kalman filter, one of the filtering techniques for trajectory determination, through GMAT. The reliability of the model was verified by comparing and analyzing the orbital determination with angular information without distance information and the orbital determination result with predicted distance information from the model.

Quantitative Conductivity Estimation Error due to Statistical Noise in Complex $B_1{^+}$ Map (정량적 도전율측정의 오차와 $B_1{^+}$ map의 노이즈에 관한 분석)

  • Shin, Jaewook;Lee, Joonsung;Kim, Min-Oh;Choi, Narae;Seo, Jin Keun;Kim, Dong-Hyun
    • Investigative Magnetic Resonance Imaging
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    • v.18 no.4
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    • pp.303-313
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    • 2014
  • Purpose : In-vivo conductivity reconstruction using transmit field ($B_1{^+}$) information of MRI was proposed. We assessed the accuracy of conductivity reconstruction in the presence of statistical noise in complex $B_1{^+}$ map and provided a parametric model of the conductivity-to-noise ratio value. Materials and Methods: The $B_1{^+}$ distribution was simulated for a cylindrical phantom model. By adding complex Gaussian noise to the simulated $B_1{^+}$ map, quantitative conductivity estimation error was evaluated. The quantitative evaluation process was repeated over several different parameters such as Larmor frequency, object radius and SNR of $B_1{^+}$ map. A parametric model for the conductivity-to-noise ratio was developed according to these various parameters. Results: According to the simulation results, conductivity estimation is more sensitive to statistical noise in $B_1{^+}$ phase than to noise in $B_1{^+}$ magnitude. The conductivity estimate of the object of interest does not depend on the external object surrounding it. The conductivity-to-noise ratio is proportional to the signal-to-noise ratio of the $B_1{^+}$ map, Larmor frequency, the conductivity value itself and the number of averaged pixels. To estimate accurate conductivity value of the targeted tissue, SNR of $B_1{^+}$ map and adequate filtering size have to be taken into account for conductivity reconstruction process. In addition, the simulation result was verified at 3T conventional MRI scanner. Conclusion: Through all these relationships, quantitative conductivity estimation error due to statistical noise in $B_1{^+}$ map is modeled. By using this model, further issues regarding filtering and reconstruction algorithms can be investigated for MREPT.

Scalable Collaborative Filtering Technique based on Adaptive Clustering (적응형 군집화 기반 확장 용이한 협업 필터링 기법)

  • Lee, O-Joun;Hong, Min-Sung;Lee, Won-Jin;Lee, Jae-Dong
    • Journal of Intelligence and Information Systems
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    • v.20 no.2
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    • pp.73-92
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    • 2014
  • An Adaptive Clustering-based Collaborative Filtering Technique was proposed to solve the fundamental problems of collaborative filtering, such as cold-start problems, scalability problems and data sparsity problems. Previous collaborative filtering techniques were carried out according to the recommendations based on the predicted preference of the user to a particular item using a similar item subset and a similar user subset composed based on the preference of users to items. For this reason, if the density of the user preference matrix is low, the reliability of the recommendation system will decrease rapidly. Therefore, the difficulty of creating a similar item subset and similar user subset will be increased. In addition, as the scale of service increases, the time needed to create a similar item subset and similar user subset increases geometrically, and the response time of the recommendation system is then increased. To solve these problems, this paper suggests a collaborative filtering technique that adapts a condition actively to the model and adopts the concepts of a context-based filtering technique. This technique consists of four major methodologies. First, items are made, the users are clustered according their feature vectors, and an inter-cluster preference between each item cluster and user cluster is then assumed. According to this method, the run-time for creating a similar item subset or user subset can be economized, the reliability of a recommendation system can be made higher than that using only the user preference information for creating a similar item subset or similar user subset, and the cold start problem can be partially solved. Second, recommendations are made using the prior composed item and user clusters and inter-cluster preference between each item cluster and user cluster. In this phase, a list of items is made for users by examining the item clusters in the order of the size of the inter-cluster preference of the user cluster, in which the user belongs, and selecting and ranking the items according to the predicted or recorded user preference information. Using this method, the creation of a recommendation model phase bears the highest load of the recommendation system, and it minimizes the load of the recommendation system in run-time. Therefore, the scalability problem and large scale recommendation system can be performed with collaborative filtering, which is highly reliable. Third, the missing user preference information is predicted using the item and user clusters. Using this method, the problem caused by the low density of the user preference matrix can be mitigated. Existing studies on this used an item-based prediction or user-based prediction. In this paper, Hao Ji's idea, which uses both an item-based prediction and user-based prediction, was improved. The reliability of the recommendation service can be improved by combining the predictive values of both techniques by applying the condition of the recommendation model. By predicting the user preference based on the item or user clusters, the time required to predict the user preference can be reduced, and missing user preference in run-time can be predicted. Fourth, the item and user feature vector can be made to learn the following input of the user feedback. This phase applied normalized user feedback to the item and user feature vector. This method can mitigate the problems caused by the use of the concepts of context-based filtering, such as the item and user feature vector based on the user profile and item properties. The problems with using the item and user feature vector are due to the limitation of quantifying the qualitative features of the items and users. Therefore, the elements of the user and item feature vectors are made to match one to one, and if user feedback to a particular item is obtained, it will be applied to the feature vector using the opposite one. Verification of this method was accomplished by comparing the performance with existing hybrid filtering techniques. Two methods were used for verification: MAE(Mean Absolute Error) and response time. Using MAE, this technique was confirmed to improve the reliability of the recommendation system. Using the response time, this technique was found to be suitable for a large scaled recommendation system. This paper suggested an Adaptive Clustering-based Collaborative Filtering Technique with high reliability and low time complexity, but it had some limitations. This technique focused on reducing the time complexity. Hence, an improvement in reliability was not expected. The next topic will be to improve this technique by rule-based filtering.

Robust 3-D Motion Estimation Based on Stereo Vision and Kalman Filtering (스테레오 시각과 Kalman 필터링을 이용한 강인한 3차원 운동추정)

  • 계영철
    • Journal of Broadcast Engineering
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    • v.1 no.2
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    • pp.176-187
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    • 1996
  • This paper deals with the accurate estimation of 3- D pose (position and orientation) of a moving object with reference to the world frame (or robot base frame), based on a sequence of stereo images taken by cameras mounted on the end - effector of a robot manipulator. This work is an extension of the previous work[1]. Emphasis is given to the 3-D pose estimation relative to the world (or robot base) frame under the presence of not only the measurement noise in 2 - D images[ 1] but also the camera position errors due to the random noise involved in joint angles of a robot manipulator. To this end, a new set of discrete linear Kalman filter equations is derived, based on the following: 1) the orientation error of the object frame due to measurement noise in 2 - D images is modeled with reference to the camera frame by analyzing the noise propagation through 3- D reconstruction; 2) an extended Jacobian matrix is formulated by combining the result of 1) and the orientation error of the end-effector frame due to joint angle errors through robot differential kinematics; and 3) the rotational motion of an object, which is nonlinear in nature, is linearized based on quaternions. Motion parameters are computed from the estimated quaternions based on the iterated least-squares method. Simulation results show the significant reduction of estimation errors and also demonstrate an accurate convergence of the actual motion parameters to the true values.

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A Stock Price Prediction Based on Recurrent Convolution Neural Network with Weighted Loss Function (가중치 손실 함수를 가지는 순환 컨볼루션 신경망 기반 주가 예측)

  • Kim, HyunJin;Jung, Yeon Sung
    • KIPS Transactions on Software and Data Engineering
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    • v.8 no.3
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    • pp.123-128
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    • 2019
  • This paper proposes the stock price prediction based on the artificial intelligence, where the model with recurrent convolution neural network (RCNN) layers is adopted. In the motivation of this prediction, long short-term memory model (LSTM)-based neural network can make the output of the time series prediction. On the other hand, the convolution neural network provides the data filtering, averaging, and augmentation. By combining the advantages mentioned above, the proposed technique predicts the estimated stock price of next day. In addition, in order to emphasize the recent time series, a custom weighted loss function is adopted. Moreover, stock data related to the stock price index are adopted to consider the market trends. In the experiments, the proposed stock price prediction reduces the test error by 3.19%, which is over other techniques by about 19%.

Development of Digital Controller and Monitoring System for UPS Inverter (UPS 인버터의 디지털 제어기 및 모니터링 시스템의 개발)

  • Park, Jee-Ho;Hwang, Gi-Hyun;Kim, Dong-Wan
    • Journal of the Institute of Electronics Engineers of Korea SC
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    • v.44 no.1
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    • pp.1-11
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    • 2007
  • In this paper, a new fully digital control method for UPS inverter, which is based on the double control loop such as the outer voltage control loop and inner current control loop, is proposed. In the proposed control system, overshoots and oscillations due to the computation time-delay are compensated by explicit incorporation of the time-delay in the current control loop transfer function. The inner current control loop is adopted by an internal model controller. The internal model controller is designed to a second order deadbeat reference-to-output response which means that its response reaches the reference in two sampling time including computational time-delays. The outer voltage control loop employing P-Resonance controller is proposed. The resonance controller has an infinite gain at resonant frequency, and the resonant frequency is set to the fundamental frequency of the reference voltage in this paper. Thus the outer voltage control loop causes no steady state error as regard to both magnitude and phase. The effectiveness of the proposed control system has been verified by the simulation and experimental results respectively.

Removal of Seabed Multiples in Seismic Reflection Data using Machine Learning (머신러닝을 이용한 탄성파 반사법 자료의 해저면 겹반사 제거)

  • Nam, Ho-Soo;Lim, Bo-Sung;Kweon, Il-Ryong;Kim, Ji-Soo
    • Geophysics and Geophysical Exploration
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    • v.23 no.3
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    • pp.168-177
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    • 2020
  • Seabed multiple reflections (seabed multiples) are the main cause of misinterpretations of primary reflections in both shot gathers and stack sections. Accordingly, seabed multiples need to be suppressed throughout data processing. Conventional model-driven methods, such as prediction-error deconvolution, Radon filtering, and data-driven methods, such as the surface-related multiple elimination technique, have been used to attenuate multiple reflections. However, the vast majority of processing workflows require time-consuming steps when testing and selecting the processing parameters in addition to computational power and skilled data-processing techniques. To attenuate seabed multiples in seismic reflection data, input gathers with seabed multiples and label gathers without seabed multiples were generated via numerical modeling using the Marmousi2 velocity structure. The training data consisted of normal-moveout-corrected common midpoint gathers fed into a U-Net neural network. The well-trained model was found to effectively attenuate the seabed multiples according to the image similarity between the prediction result and the target data, and demonstrated good applicability to field data.