• Journal of the Korea Convergence Society
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• v.8 no.4
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• pp.9-18
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• 2017

UAVs began to be actively applied to so-called 3D jobs, including the autonomous exploration, investigation, mapping, search and rescue, etc. since the mid-2000s. With this global trend, having a precise controllability of the UAV will certainly revolutionize the life of the modern human in the aspect of tremendous applications of the UAV. In the first part, a simplified dynamic model of the UAV identified using system identification techniques is compared with the previously built time-discrete linear model. In the second part, the three parameters of the dynamic model are estimated using the batch and RLS methods. Angular acceleration data of the quadrotor UAV at the hovering maneuver are analyzed and shown to be converging at all time. Also, according to the quadrotor flight data from both experiments and MATLAB simulations, the batch estimation method turns out to be more accurate than the RLS estimation method based on the comparison of final parameter values.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.25 no.12A
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• pp.1836-1842
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• 2000

이 논문은 레일레이 감쇄 채널 환경에서 IMT-2000 파일럿 심볼 구조의 W-CDMA 시스템 역방향 링크의 채널 추정에 관한 LMS 적용형 알고리즘 성능을 WMSA(Weighted Multi-Slot Averaging)(K=1,2,3), 일정 추정이득 (Constant estimation gain) 및 RLS 알고리즘 성능과 비교 분석하였다. 이 논문의 모형은 IMT-2000 3GPP 규격의 W-CDMA 채널 구조, 변조 및 파일럿 패턴을 이용하였다. 파일럿 심볼 위치의 채널추정은 LMS 알고리즘을 이용하고 데이터 심볼 위치의 채널보상은 선형 보간으로 수행하였다. 저속 도플러 주파수에서는 WMSA(K=1,2,3) 성능이 일정 추정이득, RLS 및 LMS 적응형 알고리즘 성능보다 우수하며, WMSA(K=1) 성능의 경우 일정 추정이득, RLS 및 LMS 적응형 알고리듬 성능과는 큰 차이가 없다. 그리고 LMS 알고리즘 성능은 WMSA(K=1) 성능과 매우 비슷한 결과를 얻었다. 그러나 도플러 주파수가 고속화될수록 LMS 알고리즘의 성능이 WMSA(K=1), 일정 추정이득 및 RLS 알고리즘 성능보다 우수함을 확인하였다.

• Proceedings of the KIEE Conference
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• 1999.07b
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• pp.785-787
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• 1999

In this paper, recursive least square algorithm is presented to estimate the parameters of step motor under low-speed operation. Parameter estimation is important for compensating the input current by calculating the ratio of the motor torque constant and detent torque constant that causes torque-ripple in low-speed applications. On-line parameter estimation process is a preliminary procedure to apply step motor to adaptive control. Computer simulation shows that the estimated parameters converge in finite time.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.927-931
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• 2003

In this paper, a new Recursive Least-Squares(RLS) algorithm based on matrix pseudo-inverses is presented. The aim is to use the proposed new RLS algorithm for not only the over-determined but also the under-determined estimation problem. Compared with previous results, e.g., Jie Zhou et al., the derivation of the proposed recursive form is much easier, and the recursion form is also much simpler. Furthermore, it is shown by simulations that the proposed RLS algorithm is more efficient and numerically stable than the existing algorithms.

• The Transactions of the Korean Institute of Power Electronics
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• v.5 no.6
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• pp.575-583
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• 2000

In this paper, a novel estimation alogrithm of mechanical parameters in two-mass system proposed. The inertia of a load and a motor and the stiffness are estimated by using RLS(Recursive Least Square) algorithm and acceleration information of motor. The effectiveness of the proposed scheme is verified with simulation and experiments results.

• The Journal of the Acoustical Society of Korea
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• v.38 no.3
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• pp.283-289
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• 2019

RLS (Recursive-least-squares) algorithm is known to have good convergence and excellent error level after convergence. However, there is a disadvantage that numerical instability is included in the algorithm due to inverse matrix calculation. In this paper, we propose an algorithm with no matrix inversion to avoid the instability aforementioned. The proposed algorithm still keeps the same convergence performance. In the proposed algorithm, we adopt an averaged gradient-based step size as a self-adjusted step size. In addition, a variable forgetting factor is introduced to provide superior performance for time-varying channel estimation. Through simulations, we compare performance with conventional RLS and show its equivalency. It also shows the merit of the variable forgetting factor in time-varying channels.

• Journal of the Institute of Convergence Signal Processing
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• v.3 no.2
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• pp.53-57
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• 2002

Recently, digital communication system becomes high speed, as communication demand dose not only increases sharply, but an image, voice various kinds data also comes multimedia. In transmitting data at a high speed, the main problem is fading by multipath. A linear or nonlinear distortion arise In multipath channel fading from ISI(Intersymbol Interference). For restoring this distorted signal, A lot of equalizer and adaptive algorithm is introduced. This paper compares and analysises, for improving communication quality in channel which is long delay spread, performance of decision feedback equalizer by RLS algorithm, a channel estimation by RLS-MLSE and viterbi equalizer Particularly, there Is exactly channel estimation of impluse response and excellent property of equalization about channel, which delay spread is long impluse response comparatively and is property of non-minimun phase.

• Journal of Digital Contents Society
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• v.5 no.4
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• pp.295-299
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• 2004

In this paper, we compare and analyze the LMS ard RLS algorithm of IEEE802.15.3(HDR-WPAN) system. The LMS algorithm have two merits that easily embody and not complex, but convergence speed is slow. The RLS algorithm have fast convergence speed, but very complex. When equalization using LMS algorithm, it can achieve adaptive equalization after 250 sample in fading environment, but case of RLS algorithm can achieve adaptive equalization after just 50 sampls. The computer simulation proved that adaptive equalizer to fast equalization and stability of HDR-WPAN system is more effective using RLS algorithm then LMS algorithm.

• Proceedings of the KIEE Conference
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• 1989.07a
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• pp.109-111
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• 1989

In this paper, we propose a new method of parameter est mat ion which modifies the exponentially weighted RLS (WRLS) method using asliding window. It can be used in adaptive control for a class of linear tine varying system. Computer simulations show that our new method tracts rapidly time varying parameters more effectively than WRLS.

• The Journal of the Acoustical Society of Korea
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• v.12 no.1E
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• pp.56-64
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• 1993

본 논문은 공간적으로 변하는 스펙트럼을 추정하는 새로운 적응 방법을 제안한다. 제안한 방법에서는 오래된 upstream의 데이터를 망각함으로서 신호의 nonstationarity를 고려해주는 시변망각인자의 개념을 recursive least square(RLS) 알고리즘에 도입하였으며, 관심이 있는 공간영역에서 탐사침을 천천히 움직여 얻은 하나의 데이터 군으로부터 downstream 스펙트럼을 추정하였다. 제시한 방법의 실현 가능성은 실제 실험(wind tunnel 이용)을 통해서 얻은 공간적으로 변하는 nonstatonary 신호의 스펙트럼을 추정하는 과정에서 입증되며 또한 기존의 방법들과 비교함으로서 그 우수성을 보인다.