• Journal of Positioning, Navigation, and Timing
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• v.11 no.2
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• pp.71-81
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• 2022

In order for electro-optical tracking system (EOTS) to have accurate target coordinate, accurate navigation results are required. If an integrated navigation system is configured using an inertial measurement unit (IMU) of EOTS and the vehicle's navigation results, navigation results with high rate can be obtained. Due to the time-delay of the navigation results of the vehicle in the EOTS and scale factor errors of the EOTS IMU in high-speed and high dynamic operation of the vehicle, it is much more difficult to have accurate navigation results. In this paper, an integrated navigation system of EOTS which compensates time-delay and scale factor error is proposed. The proposed integrated navigation system consists of vehicle's navigation system which provides time-delayed navigation results, an EOTS IMU, an inertial navigation system (INS), an augmented Kalman filter and integration Kalman filter. The augmented Kalman filter outputs navigation results, in which the time-delay of the vehicle's navigation results is compensated. The integration Kalman filter estimates position, velocity, attitude error of the EOTS INS and accelerometer bias, accelerometer scale factor error, gyro bias and gyro scale factor error from the difference between the output of the augmented Kalman filter and the navigation result of the EOTS INS. In order to check performance of the proposed integrated navigation system, simulations for output data of a measurement generator and land vehicle experiments were performed. The performance evaluation results show that the proposed integrated navigation system provides more accurate navigation results.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.10C
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• pp.1032-1041
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• 2007

The global navigation satellite system (GNSS), which is the core technique for the location based service, adopts the direct sequence/spread spectrum (DS/SS) as its modulation method. The success of a DS/SS system depends on the synchronization between the received and locally generated pseudo noise (PN) signals. As a step in the synchronization process, the tacking scheme performs fine adjustment to bring the phase difference between the two PN signals to zero. The most widely used tracking scheme is the delay locked loop with early minus late discriminator (EL-DLL). In the ideal case, the EL-DLL is the best estimator among various DLL. However, in the band-limited multipath environment, the EL-DLL has tracking bias. In this paper, the timing offset range of correlation function is divided into advanced offset range (AOR) and delayed offset range (DOR) centering around the correct synchronization time point. The tracking bias results from the following two reasons: symmetry distortion between correlation values in AOR and DOR, and mismatch between the time point corresponding to the maximum correlation value and the synchronization time point. The former and latter are named as the type I and type II tracking bias, respectively. In this paper, when the receiver has finite bandwidth in the presence of multipath signals, it is shown that the type II tracking bias becomes a more dominant error factor than the type I tracking bias, and the correlation values in AOR are not almost changed. Exploiting these characteristics, we propose a novel tracking bias mitigation scheme and demonstrate that the tracking accuracy of the proposed scheme is higher than that of the conventional scheme, both in the presence and absence of noise.

• Journal of the Korea Institute of Military Science and Technology
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• v.17 no.5
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• pp.703-710
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• 2014

An Image-Based Target Tracker maintains LOS(Line Of Sight) to a target by controlling azimuth and elevation gimbals of an ISS(Inertially Stabilized System). Its controller produces the gimbals commands of the ISS using tracking errors provided by an image tracker. The control performance of the target tracker with PI controller generally used for tracking controller is limited because of bandwidth limitation by time delay yielded by image capture and processing of the image tracker. In this paper, tracking controller using target states estimator is proposed which can enhance the tracking performance under the highly dynamic maneuvering conditions of the ISS and the target. Simulation results show that the proposed method can improve the tracking performance than that with only PI controller.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.28 no.12A
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• pp.983-990
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• 2003

In this paper, a noncoherent code tracking loop is designed for 3GPP MODEM and its performance is analyzed in terms of steady-state jitter variance and transient response characteristics. An analytical closed-form formula for steady-state jitter variance is Int derived for AWGN environments as a general function of a pulse-shaping filter, timing offset, signal-to-interference ratio, and loop bandwidth, together with the analysis on the transient response characteristic of a tracking loop. Based on the analysis, the code tracking loop with variable loop bandwidth that is efficient for full digital H/W implementation is designed and its performance is compared with that of the code tracking loop with fixed loop bandwidth, along with the verification by computer simulations.

• Smart Structures and Systems
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• v.20 no.4
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• pp.483-498
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• 2017

Real-Time Hybrid Simulation (RTHS) is a powerful and cost-effective dynamic experimental technique. To implement a stable and accurate RTHS, time delay present in the experiment loop needs to be compensated. This delay is mostly introduced by servo-hydraulic actuator dynamics and can be reduced by applying appropriate compensators. Existing compensators have demonstrated effective performance in achieving good tracking performance. Most of them have been focused on their application in cases where the structure under investigation is subjected to inputs with relatively low frequency bandwidth such as earthquake excitations. To advance RTHS as an attractive technique for other engineering applications with broader excitation frequency, a discrete-time feedforward compensator is developed herein via various optimization techniques to enhance the performance of RTHS. The proposed compensator is unique as a discrete-time, model-based feedforward compensator. The feedforward control is chosen because it can substantially improve the reference tracking performance and speed when the plant dynamics is well-understood and modeled. The discrete-time formulation enables the use of inherently stable digital filters for compensator development, and avoids the error induced by continuous-time to discrete-time conversion during the compensator implementation in digital computer. This paper discusses the technical challenges in designing a discrete-time compensator, and proposes several optimal solutions to resolve these challenges. The effectiveness of compensators obtained via these optimal solutions is demonstrated through both numerical and experimental studies. Then, the proposed compensators have been successfully applied to RTHS tests. By comparing these results to results obtained using several existing feedforward compensators, the proposed compensator demonstrates superior performance in both time delay and Root-Mean-Square (RMS) error.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.23 no.4
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• pp.857-864
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• 1998

The infuluence of Doppler effects on the tracking performance of a noncoherent second-order delay locked loop (DLL) operating on a data modulated signal is investigated. For the perfoermance analysis we consider the tracking accuracy (steady state error and jitter) of the linear DLL and the reliability of the nonlinear loop. The nonlinear analysis concerning the loop reliability makes use of an asympototic expansion for the MTLL(mean time to lose lock) which has been derived by applying the singular perturbation method. In particular, we give optimal loop parameters and the optimal bandwidth of the bandpass filter in the loop arms to achieve a maximum MTLL. Since Doppler effects can be producesd comparatively in LEO system, we can espect the more reliable DLL loop design. by using the results of the circuit simulation, the delay lock loop is synthesized in FPGA, and verified to get the GPS data from the STR-2770 GPS simulator system. So, the synthesized logic circuit is shown be accurately performed.

• Journal of Satellite, Information and Communications
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• v.7 no.1
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• pp.128-133
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• 2012

In this paper, we analysis the effect of error of code tracking and frequency tracking according to the chip delay of spoofing signal through the simulation. Firstly, we investigate the type of spoofing signal and defense technical of spoofing attack. For simulation, we generated the intermediate spoofing signal using the software GNSS signal generator simulator(SGGS), the intermediate spoofers synchronize its counterfeit GPS signals with the current broadcast GPS signals. The software GPS receiver simulator(SGRS) received the spoofing signal and normal signal from SGGS, and process the signals. In paper, we can check that the DLL and PLL tracking loop error are generated and pseudo-range is changed non-linear according to chip delay of spoofing signal when the spoofing signal is entered. As a result, we can check that navigation solution is incorrectly effected by spoofing signal.

• Journal of the Korea Institute of Military Science and Technology
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• v.5 no.3
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• pp.62-76
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• 2002

This paper describes the design of a Coordinates Tracking algorithm for EOTS and its error analysis. EOTS stabilizes the image sensors such as FLIR, CCD TV camera, LRF/LD, and so on, tracks targets automatically, and provides navigation capability for vehicles. The Coordinates Tracking algorithm calculates the azimuth and the elevation angle of EOTS using the inertial navigation system and the attitude sensors of the vehicle, so that LOS designates the target coordinates which is generated by a Radar or an operator. In the error analysis in this paper, the unexpected behaviors of EOTS that is due to the time delay and deadbeat of the digital signals of the vehicle equipments are anticipated and the countermeasures are suggested. This algorithm is verified and the error analysis is confirmed through simulations. The application of this algorithm to EOTS will improve the operational capability by reducing the time which is required to find the target and support especially the flight in a night time flight and the poor weather condition.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1040-1043
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• 1996

The accuracy of the servo control in CNC system has a great influence on the duality of machine product. Tracking performance of the servo control is deteriorated mainly by the time delay of the servo system and the inertia of the work table or bed. Contouring errors occur in every interpolation steps by the effect of the tracking performance. In this paper, $H_{\infty}$ two-degree-of-freedom(TDF) controller is designed for improvement to improve the tracking performance. The designed controller is applied 3-axis machining center model and the cutting accuracy is simulated in case of corner cutting, circular and involute interpolation. Simulation results show that $H_{\infty}$ TDF controller designed in this paper has a good effect to improve tracking performance in CNC system.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.315-318
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• 2005

This paper characterizes the performance for a remote path tracking control of the mobile robot in IP network viamiddleware. The middleware is used to alleviate the effect of the delay time on a mobile robot path tracking in Network-Based Control environment. The middleware also can be implemented in a modular structure. Thus, a controller upgrade or modification for other types of network protocols or different control objectives can be achieved easily. A case study on a mobile robot path-tracking with IP network delays is described. The effectiveness of the proposed approach is verified by experimental results.