• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.5
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• pp.358-363
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• 2019

If the EOIR equipment mounted on an unmanned aircraft transmits images and receives commands through a data link, there may be delays in data transmission depending on the transmission path of the data and the conditions of the ground equipment or wireless network. This increases the possibility of initial target LOCK-ON failure due to the difference between the time when the received image is viewed and the time when the image is taken. Therefore, this paper proposed a way to use frame indexes to synchronize with images, and to increase the success of target tracking by adding frame indexes to commands from the ground station.

• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.1
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• pp.89-94
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• 2013

Electro Otical Tracking System(EOTS) is required for a rapid movement as well as the stabilization of Line-Of-Sight(LOS). In order to achieve these two goals, this paper presents a position and velocity driving profile generation method from the constant acceleration and deceleration profile according to the current state, enabling a fast and smooth trajectory even if the target position changes during the movement of LOS. Simulation and experimental results reveal that the settling time could be reduced significantly by adopting the present position control scheme.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.3
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• pp.354-359
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• 2009

In this paper, the Autocoast algorithm is proposed for EOTS to overcome the target occlusion status. Coast mode, one of tracking modes, is to maintain the servo slew rate with the tracking rate right before the loss of track. The Autocoast algorithm makes decision of entering coast mode by the prediction of target occlusion and tries to refind target after the coast time. This algorithm composes of 3 steps, the first step is the prediction process of the occlusion by target-like background, the second one is the check process of the occlusion happened after background intensity variation, and the last one is the process of refinding target. The result of computer simulation, test under laboratory, and real test with EOTS shows the applicability for the automatic video tracking system.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.4
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• pp.369-377
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• 2005

This paper describes the realization of a coordinates tracking algorithm for an EOTS (Electro-Optical Tracking System). The EOTS stabilizes the image sensors, tracks targets automatically, and provides navigation capability for vehicles. The coordinates tracking algorithm calculates the azimuth and the elevation angle of an EOTS using the inertial navigation system and the attitude sensors of the vehicle, so that LOS designates the target coordinates which are generated by a Radar. In the error analysis, the unexpected behaviors of an EOTS due to the time delay and deadbeat of the digital signals of the vehicle equipments are anticipated and the countermeasures are suggested. The application of this algorithm to an EOTS will improve the operational capability by reducing the time which is required to find the target and support flight especially in the night time flight and the poor weather condition.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.484-486
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• 2018

MF-CW(Multi-Frequency Continuous Wave)operated on Electro-Optical Tracking System to measure slant range of space launch vehicle and aircraft at Naro Space Center. In this paper, we compared and analyzed the difference exactly measured slant range using the laser lightwave range measuring equipment with measured on the transponder and described the accuracy of slant range.

• Journal of Korea Multimedia Society
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• v.24 no.12
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• pp.1632-1640
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• 2021

In order to improve target tracking performance of the conventional electro-optical tracking system (EOTS) in the high speed and high maneuvering vehicle, an EOTS navigation algorithm is proposed, in which an inertial measurement unit(IMU) is included and navigation results of the vehicle are used. The proposed algorithm integrates vehicle's navigation results and the IMU and the time-delay and the scale factor errors are augmented into the integrated Kalman filter. In order to evaluate the proposed navigation algorithm, a land vehicle navigation experiments were performed a navigation grade navigation system, TALIN4000 and a tactical grade IMU, LN-200 and a equipment for roll motion were loaded on the land vehicle. The performance evaluation results show that the proposed algorithm effecting works in high maneuvering environment and for the time-delay.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.1
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• pp.39-45
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• 2022

In this paper, we propose methods to improve image-based auto-focus that can compensate for drawbacks of traditional auto-focus control. When adjusting the focus, there is a problem that the focus window cannot be set to the same position if the camera's LOS is not directed at the same location and flow or shake. To address this issue, we applied image tracking techniques to improve optimal focus localization accuracy. And also, although the same focus value should be calculated at the same focus step, but different values can be calculated by camera's fine shaking or image disturbance due to atmospheric scattering. To tackle this problem a SAFS (Stable Adjacency Frame Selection) has been proposed. As a result of this study, our proposed methodology shows more accurate than traditional methods in terms of finding best focus position.

• Journal of Korea Multimedia Society
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• v.24 no.12
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• pp.1589-1597
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• 2021

Due to the low output rate and time delay of vehicle's navigation results, the electro-optical tracking system(EOTS) cannot estimate accurate target positions. If an inertial measurement unit(IMU) is additionally mounted into the EOTS and inertial navigation system(INS) is constructed, the high navigation output rate can be obtained. And the time-delay can be compensated by using the augmented Kalman filter. An accurate initial attitude is required in order to have accurate navigation outputs. In this paper, an attitude determination algorithm is proposed using the augmented Kalman filter in order to compensate measurement delay of the EOTS and have accurate initial attitude. The proposed initial attitude determination algorithm consists of an augmented Kalman filter, an INS, and an integrated Kalman filter. The augmented Kalman filter compensates the time-delay of the vehicle's navigation results and the integrated Kalman filter estimates the navigation error of the INS. In order to evaluate performance of the proposed algorithm, vehicle's navigation outputs and IMU measurements were generated using sensors' model-based measurement generator and initial attitude estimation errors of the proposed algorithm and the conventional algorithm without the augmented Kalman filter were compared for the generated measurements. The evaluation results show that the proposed algorithm has better accuracy.

• The Journal of the Convergence on Culture Technology
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• v.9 no.1
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• pp.663-668
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• 2023

Recently it is very important to collect information such as enemy positions and facilities. To this end, unmanned aerial vehicles such as multicopters have been actively developed, and various mission equipment mounted on unmanned aerial vehicles have also been developed. The coordinate-oriented algorithm refers to an algorithm that calculates a gaze angle so that the mission equipment can fix the gaze at a desired coordinate or position. Flight data and GPS data were collected and simulated using Matlab for coordinate-oriented algorithms. In the simulation using only the coordinate data, the average Pan axis angle was about 0.42°, the Tilt axis was 0.003°~0.43°, and the relatively wide error was about 0.15° on average. As a result of converting this into the distance in the NE direction, the error distance in the N direction was about 2.23m on average, and the error distance in the E direction was about -1.22m on average. The simulation applying the actual flight data showed a result of about 19m@CEP. Therefore, we conducted a study on the self-error of coordinate-oriented algorithms in monitoring and information collection, which is the main task of EOTS, and confirmed that the quantitative target of 500m is satisfied with 30m@CEP, and showed that the desired coordinates can be directed.

• Journal of the Korea Society of Computer and Information
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• v.18 no.12
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• pp.55-64
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• 2013

In this paper, the HILS (Hardware In-the-Loop Simulation) system to analyze and to verify the performance of the targeting pod is addressed. The main functions of the targeting pod is acquiring and tracking targets to guide a LGB (Laser Guided Bomb) to the targets. For the analysis of targeting pod, the real time simulate images generation of IR and daylight cameras, sever control technology, and the analysis of laser transfer characteristics are necessary. For the real time image generation and the laser transfer characteristics analysis, off-the-shelf SDK(Software Development Kit) OKTAL-SE is used. For the servo controller, well-proven mechanism in the previous program is applied to increase servo control accuracy. To analyze the performance of a targeting pod in a realistic environment, 1553B, ARINK818 interface and etc. which are actually implemented in real combat aircrafts are applied in the system. By using the developed HILS system, the performance of currently operating targeting pods in real combat aircrafts can be analyzed and predicted. Additionally, the relationship between overall system performance and each module performance can be analyzed, the currently developed HILS system is expected to be a very useful tool to generate system development requirements of targeting pods and to reduce any possible future development risks.