• KSII Transactions on Internet and Information Systems (TIIS)
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• 제14권3호
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• pp.1337-1362
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• 2020

Advances in localization-based technologies and the increase in ubiquitous computing have led to a growing interest in location-based applications and services. High accuracy of the position of a wireless device is still a crucial requirement to be satisfied. Firstly, the rapid development of wireless communication technologies has affected the location accuracy of radio monitoring systems employed locally and globally. Secondly, the location is determined using standard complex computing methods and needs a relatively long execution time. In this paper, two geolocalization techniques, based on trigonometric and CORDIC computing processes, are proposed and implemented for Bluetooth-based indoor monitoring applications. Theoretical analysis and simulation results are investigated in terms of accuracy, scalability, and responsiveness. They show that the proposed techniques can locate a target wireless device accurately and are well suited for timing estimation.

• 한국전자파학회:학술대회논문집
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• 한국전자파학회 2003년도 종합학술발표회 논문집 Vol.13 No.1
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• pp.43-46
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• 2003

This paper presents capacity characteristics of the indoor LOS(Line-Of-Sight) propagation channel for MIMO system at 5GHz. The distance between antenna elements, their moving path, and number of transmitting and receiving antennas can be determined by wanted eigen-vlaue, and channel capacity of the MIMO communication channel using only reliable simulation without measurements. The simulation uses 3D Ray tracing and patch scattering model to which electromagnetic material constants are applied. As distance between antenna elements increases, distribution of the eigen-value show a tendency to decrease, but channel capacity increases in LOS environment. However, despite of short distance between antenna elements, large value of channel capacity is obtained in positions which have high AS. When the position of receiver antennas are shifted, channel capacity hardly changed, and as number of antenna elements increases, channel capacity also increases regularly.

• 로봇학회논문지
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• 제5권3호
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• pp.186-196
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• 2010

In this paper, we present a global localization and position error compensation method in a known indoor environment using magnet hall sensors. In previous our researches, it was possible to compensate the pose errors of $x_e$, $y_e$, ${\theta}_e$ correctly on the surface of indoor environment with magnets sets by regularly arrange the magnets sets of identical pattern. To improve the proposed method, new strategy that can realize the global localization by changing arrangement of magnet pole is presented in this paper. Total six patterns of the magnets set form the unique landmarks. Therefore, the virtual map can be built by using the six landmarks randomly. The robots search a pattern of magnets set by rotating, and obtain the current global pose information by comparing the measured neighboring patterns with the map information that is saved in advance. We provide experimental results to show the effectiveness of the proposed method for a differential drive wheeled mobile robot.

• 제어로봇시스템학회논문지
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• 제17권4호
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• pp.353-361
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• 2011

A precise embedded ultrasonic localization system is developed for autonomous mobile robots in indoor environments, which is essential for autonomous navigation of mobile robots with various tasks. Although ultrasonic sensors are more cost-effective than other sensors such as LRF (Laser Range Finder) and vision, they suffer inaccuracy and directional ambiguity. First, we apply the matched filter to measure the distance precisely. For resolving the computational complexity of the matched filter for embedded systems, we propose a new matched filter algorithm with fast computation in three points of view. Second, we propose an accurate ultrasonic localization system which consists of three ultrasonic receivers on the mobile robot and two or more transmitters on the ceiling. Last, we add an extended Kalman filter to estimate position and orientation. Various simulations and experimental results show the effectiveness of the proposed system.

• 한국통신학회논문지
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• 제25권7A호
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• pp.943-950
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• 2000

본 논문에서는 실내 비방향성 분산채널에서 비동기 다중전송률 광무선 펄스위치변조기법을 적용한 부호분할다원 접속 시스템을 제안한다. 부호분할다원접속을 위한 시그너쳐 시퀀스로는 광직교부호를 사용하고, 비트오류률을 향상시키기 위해 간섭제거기법을 적용한다. PPM-CDMA은 전력효율이 다른 변조기법에 비해 우수하고, 고정된 펄스구간에 대해 변조레벨을 변화시켜 다중전송률 서비스를 제공하는 데에 용이하다. 본 논문에서 제안한 다중전송률 PPM-CDMA 시스템은 각 전송률에 대해 칩전송률 및 샘플링 시간을 변화시키지 않으므로써 전체 시스템 구조를 단순화할 수 있다.

• 제어로봇시스템학회논문지
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• 제12권9호
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• pp.876-882
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• 2006

This study presents an ultrasonic location awareness system for the ubiquitous computing with absolute position. The flight time of ultrasonic waves is determined by a period detecting technique which is able to extend the sensing range compared with traditional methods. For location awareness, ultrasonic waves are sent successively from each ultrasonic transmitter and synchronized by radio frequency (RF) signal, where the transmitting part is fixed and the receiving part is movable. To expand the recognizing range, cell matching technique and coded ultrasonic technique are introduced. The experimentation for various distances is accomplished to verify the used period detecting technique of U-SAT system. The positioning accuracy by using cell matching is also verified by finding the locations of settled points and the usability of coded ultrasonic technique is verified. As a result, the possibility of ultrasonic location awareness system for the ubiquitous computing can be discussed as a pseudo-satellite system with low cost, a high update rate, and relatively high precision, in the places where CPS is not available.

• 한국항행학회논문지
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• 제17권6호
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• pp.810-815
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• 2013

구조 요원 위치 추적을 위해 Wi-Fi 기반 위치 추적 기술을 이용하는 경우, 거리 측정 정보를 제공하지 않는 Wi-Fi의 특성상 RSSI 핑거프린트 데이터베이스나 신호 감쇄 모델을 이용하여 거리측정치를 생성해 내어야 한다. 그러나 구조 현장에서 임시로 구축되는 데이터 통신 네트워크에서는 사전에 데이터베이스 구축이 어려워 적용이 곤란하다. 본 논문에서는 이러한 한계를 극복하기 위해 통신 네트워크 구축을 위해 사용된 전개식 AP의 근접 정보와 보행 항법 정보를 이용하여 복수 구조 요원의 위치 추적 방법을 연구하였다.

• 한국멀티미디어학회논문지
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• 제25권2호
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• pp.280-286
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• 2022

In order to efficiently collect data, it is essential to locate the facilities and analyze the movement data. The current technology for location collection can collect data using a GPS sensor, but GPS has a strong straightness and low diffraction and reflectance, making it difficult for indoor positioning. In the case of indoor positioning, the location is determined by using wireless network technologies such as Wifi, but there is a problem with low accuracy as the error range reaches 20 to 30 m. In this paper, using BLE 4.2 built in Raspberry Pi, we implement Bluetooth Smart Ready. In detail, a beacon was produced for Advertise, and an experiment was conducted to support the serial port for data transmission/reception. In addition, advertise mode and connection mode were implemented at the same time, and a 3-count gradual algorithm and a quadrangular positioning algorithm were implemented for Bluetooth RSSI error correction. As a result of the experiment, the average error was improved compared to the first correction, and the error rate was also improved compared to before the correction, confirming that the error rate for position measurement was significantly improved.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2022년도 춘계학술대회
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• pp.352-354
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• 2022

카메라를 이용한 위치 측정은 오랫동안 많은 연구가 진행되고 있다. 이것은 자율주행 자동차에서 차간거리 인식이나 객체 인식을 위한 연구가 있고, GPS를 적용하기 어려운 한정된 공간인 실내의 내비게이션 분야에서 연구되고 있다. 보통, 카메라를 이용하는 거리를 측정하는 방법은 2개의 스테레오 카메라를 이용하여 카메라 사이의 거리와 촬영된 영상이나 사진을 통해 측정된 값을 이용하여 거리를 측정한다. 본 논문에서는 하나의 카메라를 이용하여 사물의 거리를 측정하는 방법을 제안한다. 제안하는 방법은 촬영 시간의 차이, 촬영 사이의 거리를 통하여 스테레오 카메라와 같이 카메라 간의 거리, 촬영된 사진에 의해 측정된 값을 이용하여 거리를 측정한다.

• Journal of Positioning, Navigation, and Timing
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• 제13권3호
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• pp.289-299
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• 2024

In the Pedestrian Dead Reckoning (PDR)/Global Positioning System (GPS)/Wi-Fi-integrated navigation system for indoor/outdoor continuous positioning of pedestrians, the process of detecting outliers in measurements is very important. When accurate location information from measurements is used, reliable correction data can be generated during the fusion filtering process. However, abnormal measurements may occur in certain situations, such as indoor/outdoor transitions, which can degrade filter performance and lead to significant errors in the estimated position. To address this issue, this paper proposes a method for detecting outliers in measurements based on Rényi Divergence (RD). When the deviation of the RD value is large, the measurements are considered outliers, and positioning is performed using only pure PDR. Based on experiments conducted with real data, it was confirmed that outliers were effectively detected for abnormal measurements, leading to an improvement in the performance of pedestrian navigation.