• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.177.4-177
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• 2001

In this paper, we propose a new type of nonlinear fixed interval smoothing filter which is modified from the existing nonlinear smoothing filter. A nonlinear smoothing filter is derived from two-filter formulas. For the backward filter, the propagation and update equation of error states are derived. Particularly the modified update equation of the backward filter use the estimated error terms from the forward filter. Smoothing algorithm is altered into the compatible form with the new type of the backward fitter. An advantage of the proposed algorithm is more efficient than the existing one because propagation in backward filter is very simple from the implementation point of view. We apply the proposed nonlinear smoothing ...

• 한국전자파학회논문지
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• 제27권6호
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• pp.545-556
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• 2016

JPDAF(Joint Probabilistic Data Association Filter)는 다중표적 추적에서 존재하는 표적에서 측정값들이 유래되었을 사후 확률을 이용하여 표적의 상태 추정치에 대한 갱신을 진행하는 방식이다. 이러한 JPDAF 방식에 고정구간 평활화(fixed-interval smoothing)기법을 적용하여 얻은 JPDAS(Joint Probabilistic Data Association Smoothing) 방식을 기반으로 이 논문에서는 모탄에서 분리되어 낙하하는 다수의 자탄에 대한 다중표적 추적알고리즘을 제안하였다. 독립적으로 JPDAF와 JPDAS를 이용한 다중표적 추적알고리즘을 100번 수행하여 얻은 표적의 상태 추정치와 표적의 실제 상태의 차이의 평균으로 두 다중표적 추적알고리즘의 성능을 비교하였다. 이를 기반으로, 제안한 JPDAS가 JPDAF보다 레이다의 표적 추적 문제에 대한 성능이 좋음을 보여주는 시뮬레이션 결과들이 제시되었다.

• 제어로봇시스템학회논문지
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• 제19권5호
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• pp.481-487
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• 2013

This paper presents an FIR (Finite Impulse Response) fixed-interval smoothing filter for fast and exact estimating state variables of a discrete nonlinear system with modeling uncertainty. Conventional IIR (Infinite Impulse Response) filter and smoothing filter can estimate state variables of a system with an exact model when the system is observable. When there is an uncertainty in the system model, however, conventional IIR filter and smoothing filter may cause large errors because the filters cannot estimate the state variables corresponding to the uncertain model exactly. To solve this problem, FIR filters that have fast estimation properties and have robustness to the modeling uncertainty have been developed. However, there is time-delay estimation phenomenon in the FIR filter. The FIR smoothing filter proposed in this paper makes up for the drawbacks of the IIR filter, IIR smoothing filter, and FIR filter. Therefore, the FIR smoothing filter has good estimation performance irrespective of modeling uncertainty. The proposed FIR smoothing filter is applied to the integrated navigation system composed of a magnetic compass based DR (Dead Reckoning) and a GPS (Global Positioning System) receiver. Even when the magnetic compass error that changes largely as the surrounding magnetic field is modeled as a random constant, it is shown that the FIR smoothing filter can estimate the varying magnetic compass error fast and exactly with simulation results.

• 대한지리학회지
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• 제49권3호
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• pp.339-356
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• 2014

DEM의 보급과 처리 기술의 발전으로 DEM으로부터 하천종단을 추출하는 것이 과거 어느 때보다 용이해졌다. 하지만 DEM에서 추출된 하천종단은 인위적인 평지 및 계단과 같은 문제점들도 포함하고 있기 때문에, 자연스런 하천종단을 얻어내기 위해서는 평활화 과정을 거쳐야 한다. 그러나 평활화 자체는 원본 하천종단의 변형을 필연적으로 동반하기 마련이다. 지금까지는 평활화로 인한 원자료의 변형에 대해 객관적이고 정량적인 평가가 없었다. 이에 본 연구는 주요 평활화 방법의 특성을 파악하고, 이들의 한계점을 극복하는 새로운 평활화 방법을 제안하며, 이의 유용성을 검증하였다. 본 연구는 보다 정밀한 평활화 방법을 제시할 뿐만 아니라 연구목적에 부합하는 평활화 방법을 선택하는데도 도움이 될 것이다.

• 제어로봇시스템학회논문지
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• 제8권11호
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• pp.984-990
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• 2002

We propose a new type of nonlinear fixed interval smoother to which an existing nonlinear smoother is modified. The nonlinear smoother is derived from two-filter formulas. For the backward filter. the propagation and the update equation of error states are derived. In particular, the modified update equation of the backward filter uses the estimated error terms from the forward filter. Data fusion algorithm, which combines the forward filter result and the backward filter result, is altered into the compatible form with the new type of the backward filter. The proposed algorithm is more efficient than the existing one because propagation in backward filter is very simple from the implementation point of view. We apply the proposed nonlinear smoothing algorithm to off-line navigation system and show the proposed algorithm estimates position, and altitude fairly well through the computer simulation.

• Journal of the Korean Data and Information Science Society
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• 제28권2호
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• pp.451-459
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• 2017

There are many researches showing that when a process change has occurred, variable sampling intervals (VSI) control chart is better than the fixed sampling interval (FSI) control chart in terms of reducing the required time to signal. When the process engineers use VSI control procedure, frequent switching between different sampling intervals can be a complicating factor. However, average number of samples to signal (ANSS), which is the amount of required samples to signal, and average time to signal (ATS) do not provide any control statistics about switching performances of VSI charts. In this study, we evaluate numerical switching performances of multivariate VSI EWMA chart including average number of switches to signal (ANSW) and average switching rate (ASWR). In addition, numerical study has been carried out to examine how to improve the performance of considered chart with accumulate-combine approach under several different smoothing constant and sample size. In conclusion, process engineers, who want to manage the correlation coefficients of related quality variables, are recommended to make sample size as large and smoothing constant as small as possible under permission of process conditions.

• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2005년도 춘계학술대회
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• pp.638-642
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• 2005

For gas hydrate exploration, long offset multichannel seismic data acquired using by the 4km streamer length in Ulleung basin of the East Sea. The dataset was processed to define the BSRs (Bottom Simulating Reflectors) and to estimate the amount of gas hydrates. Confirmation of the presence of Bottom Simulating reflectors (BSR) and investigation of its physical properties from seismic section are important for gas hydrate detection. Specially, faster interval velocity overlying slower interval velocity indicates the likely presences of gas hydrate above BSR and free gas underneath BSR. In consequence, estimation of correct interval velocities and analysis of their spatial variations are critical processes for gas hydrate detection using seismic reflection data. Using Dix's equation, Root Mean Square (RMS) velocities can be converted into interval velocities. However, it is not a proper way to investigate interval velocities above and below BSR considering the fact that RMS velocities have poor resolution and correctness and the assumption that interval velocities increase along the depth. Therefore, we incorporated Migration Velocity Analysis (MVA) software produced by Landmark CO. to estimate correct interval velocities in detail. MVA is a process to yield velocities of sediments between layers using Common Mid Point (CMP) gathered seismic data. The CMP gathered data for MVA should be produced after basic processing steps to enhance the signal to noise ratio of the first reflections. Prestack depth migrated section is produced using interval velocities and interval velocities are key parameters governing qualities of prestack depth migration section. Correctness of interval velocities can be examined by the presence of Residual Move Out (RMO) on CMP gathered data. If there is no RMO, peaks of primary reflection events are flat in horizontal direction for all offsets of Common Reflection Point (CRP) gathers and it proves that prestack depth migration is done with correct velocity field. Used method in this study, Tomographic inversion needs two initial input data. One is the dataset obtained from the results of preprocessing by removing multiples and noise and stacked partially. The other is the depth domain velocity model build by smoothing and editing the interval velocity converted from RMS velocity. After the three times iteration of tomography inversion, Optimum interval velocity field can be fixed. The conclusion of this study as follow, the final Interval velocity around the BSR decreased to 1400 m/s from 2500 m/s abruptly. BSR is showed about 200m depth under the seabottom

• 한국해안해양공학회지
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• 제13권3호
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• pp.209-229
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• 2001

옥계항 내외의 5개 정점에서 부이형 파향·파고계와 수압식 파고계를 사용하여 연속관측한 장·단주기파의 장기간 자료를 분석하여 옥계항 주변 해역에서의 장주기파 에너지의 공간적, 시간적 분포를 검토하였다. 장주기파 자료 분석에 일정평활화법, 점증평활화법 및 이동평균평활화법을 적용하여 각각의 장·단점을 검토한 결과 해당 항만의 제1 공진 모드의 주기와 사용하는 자료의 길이에 따라 적절한 에너지 평활화 방법을 사용해야 함을 보였다. 장기간 자료와 2일 길이의 자료들의 분석 결과를 비교하여 평상시와 폭풍시를 구분하여 해석하는 것이 타당함을 보였다. 한편, 관측 자료의 종합적인 분석 결과 옥계항의 Helmholtz 공진 주기는 약 9.6분(상대진폭비 9∼10)으로 제시되었으며 저중력파 주기대의 주기 1.2∼1.3분과 0.7분의 국부 부진동이 매우 뚜렷하게 나타났다. 그리고, 평상시 자료에서는 항입구와 항내 정점에서 주기 9분 이상에서의 에너지가 저중력파 주기대의 에너지에 비해 100배 이상으로 매우 크게 나타났지만, 폭풍시에는 주파수 대폭에 무관하게 에너지가 크게 나타났으며, 특히 항내에서는 국부 부진동의 에너지가 평상시에 비해 최소 100배 이상으로 제시되었다. 마지막으로 항내에서는 Helmholtz 공진 모드와 주기 1∼2분의 저중력파 에너지가 폭풍파고의 크기에 비례하는 것으로 나타났다.