• Journal of the Korean Society for Precision Engineering
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• v.15 no.7
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• pp.175-181
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• 1998

This paper describes realtime visual tracking system of moving object for three dimensional target using EKF(Extended Kalman Filter). We present a new realtime visual tracking using EKF algorithm and image prediction algorithm. We demonstrate the performance of these tracking algorithm through real experiment. The experimental results show the effectiveness of the EKF algorithm and image prediction algorithm for realtime tracking and estimated state value of filter, predicting the position of moving object to minimize an image processing area, and by reducing the effect by quantization noise of image.

• 전기의세계
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• v.43 no.2
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• pp.20-29
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• 1994

본고에서는 다변수 상태궤환을 이용한 유도전동기의 전류제어, 확장칼만필터(Extened Kalman filter)를 이용한 유도전동기의 속도추정, 칼만필터와 최적제어를 이용한 2관성계 유도전동기 시스템의 축진동 억제를 위한 속도제어 등 현대제어이론을 산업용 유도전동기 제어에 적용한 예에 대해 기술한다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.5
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• pp.405-412
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• 2015

This paper represents a filter design to estimate the airspeed of a spin-stabilized, trajectory-correctible artillery ammunition. Due to the limited power and space in operational point of view, the airspeed sensor is not installed, and thus the airspeed need to be estimated using limited sensor measurements. The only IMU measurements(three-axis specific forces and angular rates) are used in this application. The extended Kalman filter algorithm is applied since a linear filter can not cover the its wide operational range in airspeed and altitude. In the implementation of the EKF, the state and measurement equations are transformed into the no-roll frame for simple form of Jacobian matrix. The simulation study is conducted to evaluate the performance of the filter under various environment conditions of sensor noise and wind turbulence. In addition, the effect of the choice in filter design parameters, i.e. process error covariance matrices is analyzed on the performance of the estimation of airspeed and angular rates.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.9
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• pp.724-733
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• 2017

Accidents caused by upset condition leads to fatal damage to both manned and unmanned aircraft. This paper deals with real-time detection of these aircraft upset situations to prevent further severe situations. Firstly, the difference between sensor measurement and predicted measurement from Extended Kalman filter is monitored to determine whether a target aircraft goes into an upset condition or not. In addition, repeating the time update stage of the Extended Kalman filter for a specific length of time can enable future upset situation prediction. The results of aforementioned both the approaches will build a bridge to upset prevention for future generation of manned/unmanned aircraft.

• Journal of Astronomy and Space Sciences
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• v.25 no.3
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• pp.283-290
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• 2008

Satellite formation flying can provide the platform for interferometric observation to acquire the precise data and ensure the flexibility for space mission. This paper presents development and verification of an algorithm to estimate the baseline between formation flying satellites. To estimate a baseline(relative navigation) in real time, EKF(Extended Kalman Filter) and UKF(Unscented Kalman Filter) are used. Measurements for updating a state-vector in Kalman Filter are GPS single difference data. In results, The position errors in estimated baseline are converged to less than ${\pm}1m$ in both EKF and UKF. And as using the two types of Kalman filter, it is clear that the unscented Kalman filter shows a relatively better performance than the extended Kalman filter by comparing an efficiency to the model which has a non-linearity.

• Proceedings of the KAIS Fall Conference
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• 2010.11b
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• pp.546-550
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• 2010

무인잠수정이 원하는 경로를 추종할 수 있도록 안정적인 운항제어를 수행하기 위해서는 잠수정의 동역학적 특성을 정확히 파악하는 것이 필요하다. 수중에서 거동하는 무인잠수정의 동역학적 특성은 제어입력뿐만 아니라 유체력계수에 의해 주로 결정되므로, 이러한 계수값을 정확하게 아는 것이 중요한 요소라 할 수 있다. 일반적으로 유체력계수는 PMM 시험과 같은 실험적 방법을 통하여 얻게 되지만 실험방법의 어려움과 실험장비들의 부정확성으로 인한 오차에 의하여, 얻어진 값들의 신뢰성이 많이 저하된다. 계수값들을 구할 수 있는 다른 방법으로는, 확장칼만필터 등과 같은 모델기반 추정 알고리즘을 통하여 유체력계수를 추정하는 것이다. 본 논문에서는 확장칼만필터를 이용하여 유체력계수를 추정하도록 하였으며, 설계된 추정 알고리즘의 성능을 검증하기 위하여 기존에 수행된 PMM 시험에 의해 얻어진 유체력계수의 실험값과 비교 분석하였다. 또한 본 논문에서는 만타형 무인잠수정을 이용하여 원하는 경로를 추종할 수 있도록, 추정된 유체력계수를 사용하여 수심제어 및 방향제어를 위한 슬라이딩 모드 제어기를 설계하였으며, 충분한 정확도를 가지고 원하는 경로를 추종함을 시뮬레이션을 통해 확인하였다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.11
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• pp.1079-1086
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• 2008

During transfer alignment navigation information transferred MINS(master inertial navigation system) to SINS(slave inertial navigation system) has a changed time delay. The changed time delay degrades the performance of transfer alignment. This paper proposes an adaptive filter that estimates covariance of a time delay in real-time using residual of measurements. The performance of the adaptive filter is compared with that of the EKF(extended Kalman filter) in case of transfer alignment for vertical launcher in the ship. The results show that proposed method is more effective than EKF in estimating attitude errors.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.30 no.7
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• pp.123-129
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• 2002

This paper reveals determination of orbital elements of the satellite using GPS data collected by the low-end GPS receiver installed at KITSAT-3 which is a small scientific experimental satellite of Korea and launched in May 1999. An extended Kalman filter is designed for a forward estimation of real-time 3-dimensional position and velocity, and a smoother is used for a backward post-processing estimation of the same states. After finishing estimation of position and velocity, the corresponding orbital elements are estimated. Finally, the result of each orbital element is analyzed.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.10
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• pp.15-23
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• 2017

This paper reports a SOC(State-of-Charge) estimation method using the extended Kalman filter(EKF) algorithm, which can allow real-time implementation and reduce the error of the model and be robust against noise, to accurately estimate and evaluate the charging/discharging state of the EV(Electric Vehicle) battery. The battery was modeled as the first order Thevenin model for the EKF algorithm and the parameters were derived through experiments. This paper proposes the changed method, which can have the SOC to 0% ~ 100% regardless of the aging of the battery by replacing the rated capacity specified in the battery with the maximum chargeable capacity. In addition, This paper proposes the EKF algorithm to estimate the non-linearity interval of the battery and simulation result based on Ah-counting shows that the proposed algorithm reduces the estimation error to less than 5% in all intervals of the SOC.

• Smart Media Journal
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• v.13 no.5
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• pp.9-18
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• 2024

Multi-Object trajectory modeling is a major challenge in MOT. CenterTrack tried to solve this problem with a Heatmap-based method that tracks the object center position. However, it showed limited performance when tracking objects with complex movements and nonlinearities. Considering the degradation factor of CenterTrack as the dynamic movement of pedestrians, we integrated the EKF into CenterTrack. To demonstrate the superiority of our proposed method, we applied the existing KF and UKF to CenterTrack and compared and evaluated it on various datasets. The experimental results confirmed that when EKF was integrated into CenterTrack, it achieved 73.7% MOTA, making it the most suitable filter for CenterTrack.