• 제어로봇시스템학회논문지
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• 제21권2호
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• pp.121-129
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• 2015

This paper presents a multiple vehicle recognition algorithm based on radar and vision sensor fusion for lane change assistance. To determine whether the lane change is possible, it is necessary to recognize not only a primary vehicle which is located in-lane, but also other adjacent vehicles in the left and/or right lanes. With the given sensor configuration, two challenging problems are considered. One is that the guardrail detected by the front radar might be recognized as a left or right vehicle due to its genetic characteristics. This problem can be solved by a guardrail recognition algorithm based on motion and shape attributes. The other problem is that the recognition of rear vehicles in the left or right lanes might be wrong, especially on curved roads due to the low accuracy of the lateral position measured by rear radars, as well as due to a lack of knowledge of road curvature in the backward direction. In order to solve this problem, it is proposed that the road curvature measured by the front vision sensor is used to derive the road curvature toward the rear direction. Finally, the proposed algorithm for multiple vehicle recognition is validated via field test data on real roads.

• 한국통신학회논문지
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• 제40권11호
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• pp.2252-2260
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• 2015

본 논문에서는 상용 차량에 많이 쓰이는 GNSS, 비전 센서, 레이더 센서를 이용한 협력 항법시스템을 제안하였다. 기존의 무선신호(예:UWB) 기반의 협력 항법시스템 (Hybrid-Sum Product Algorithm over Wireless Network, H-SPAWN)을 바탕으로 하여 무선신호 방식 대신 비전 센서와 레이더 센서를 모델링하여 알고리즘을 구성하였다. 모의실험을 통해, 사용하는 센서에 따른 성능을 비교분석하였으며, 특히 레이더 센서를 사용할 시 다른 두 센서(비전, UWB) 대비 최대 50%의 오차저감 효과를 보임을 확인하였다. 따라서 상용 차량에 쓰이는 센서 기반의 협력 항법시스템은 기존의 협력항법 시스템의 정확도를 향상시키면서 적용비용을 줄일 수 있는 기술이 될 수 있을 것이다.

• 전기학회논문지P
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• 제62권2호
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• pp.57-64
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• 2013

Many accidents are being occurred due to many missteps, etc. at the railway platform. Recently in Korea, efforts to prevent casualties fundamentally are being made by installing and operating the PSD(Platform Screen Door) with underground station building as its center to prevent these casualties of passengers. Although this PSD can solve the problem of public casualties at platform fundamentally, it is impossible to install it at whole station buildings since its installation cost is high, and in case of the ground station building of general railway whose operation speed is higher, installation of PSD is impossible due to the characteristics of railway system. This paper proposes the novel safety equipment using Laser radar sensors for the prevention against casualties of passengers at station buildings where the PSDs are not installed like this. The safety equipment using Laser radar sensors is the safety equipment making an approaching train stopped if the falling object is a person by detecting the obstacle at platform through, and it has the merit possible to apply it to station buildings not only in the underground section but also in the ground section since it may detect accurately under ambient environmental elements such as the snow, rain and yellow dust, etc. also. We developed the prototype of the safety equipment to reduce public casualties at platform by using Laser radar sensors and carried out its performance test, and the result is presented in this paper.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 추계종합학술대회 논문집(1)
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• pp.505-508
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• 2000

The success of target reconstruction in SAR(Synthetic Aperture Radar) imaging system is greatly dependent on the coherent detection. Primary causes of incoherent detection are uncompensated target or sensor motion, random turbulence in propagation media, wrong path in radar platform, and etc. And these appear as multiplicative phase error to the echoed signal, which consequently, causes fatal degradations such as fading or dislocation of target image. In this paper, we present iterative phase error estimation scheme which uses echoed data in all temporal frequencies. We started with analyzing wave equation for one point target and extend to overall echoed data from the target scene - The two wave equations governing the SAR signal at two temporal frequencies of the radar signal are combined to derive a method to reconstruct the complex phase error function. Eventually, this operation attains phase error correction algorithm from the total received SAR signal. We verify the success of the proposed algorithm by applying it to the simulated spotlight-mode SAR data.

• 한국우주과학회:학술대회논문집(한국우주과학회보)
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• 한국우주과학회 2008년도 한국우주과학회보 제17권2호
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• pp.31.4-32
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• 2008

The microwave instruments are used many areas of the space remote sensing and space science applications. The imaging radar of synthetic aperture radar (SAR) is well known microwave radar sensor for earth surface and ocean research. Unlike radar, microwave radiometer is passive instrument and it measures the emission energy of target, i.e. brightness temperature BT, from earth surface and atmosphere. From measured BT, the geophysical data like cloud liquid water, water vapor, sea surface temperature, surface permittivity can be retrieved. In this paper, the radiometer characteristics, system configuration and principle of BT measurement are described. Also the radiometer instruments TRMM, GPM, SMOS for earth climate, and ocean salinity research are introduce. As first korean microwave payload on STSAT-2, the DREAM (Dual-channels Radiometer for Earth and Atmosphere Monitoring) is described the mission, system configuration and operation plan for life time of two years. The main issues of DREAM unlike other spaceborne radiometers, will be addressed. The calibration is the one of main issues of DREAM mission and how it contribute on the space borne radiometer. In conclusion, the radiometer instrument to space science application will be considered.

• 한국위성정보통신학회논문지
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• 제12권1호
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• pp.34-37
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• 2017

본 논문은 I/Q 채널을 다 이용하여 표적의 후퇴와 접근을 감지하는 연속파 레이다의 신호처리에 대하여 분석한다. 표적이 레이다로부터 접근 혹은 후퇴할 때 Quadrature 신호의 위상이 달라지는 것을 이용하여 물체의 후퇴와 접근을 감지하며, 상용 MMIC칩과 MCU를 이용하여 모듈을 구현하고, MMIC로부터 나온 수신데이터를 분석하여 검증하였다. 또한 사람을 대상으로 접근, 후퇴하는 동작에 대한 신호처리를 MCU를 사용하여 확인하였다. 사용한 주파수는 24.125GHz이며, 송신기 출력전력은 7.2 dBm이다. 실제 구현한 레이다로 최대 검출가능거리는 약 12m를 달성하였다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 춘계 학술대회 학술발표 논문집
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• pp.303-306
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• 2003

In radar tracking, since the sensor measures range, azimuth and elevation angle of a target, the measurement equation is nonlinear and the extended Kalman filter (EKF) is applied to nonlinear estimation. The conventional EKF has been widely used as a nonlinear filter for radar tracking, but the considerably large measurement error due to the linearization of nonlinear function in highly nonlinear situations may deteriorate the performance of the EKF To solve this problem, a fuzzy-model-based Kalman filter (FMBKF) is proposed for radar tracking. The FMBKF uses a local model approximation based on a TS fuzzy model instead of a Jacobian matrix to linearize nonlinear measurement equation. The hybrid GA and RLS method is used to identify the premise and the consequent parameters and the rule numbers of this TS fuzzy model. In two-dimensional radar tracking problem, the proposed method is compared with the conventional EKF.

• 대한임베디드공학회논문지
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• 제6권1호
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• pp.16-24
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• 2011

Automotive Radar Systems are currently under development for various applications to increase accuracy and reliability. The target tracking is most important in single or multiple target environments for accuracy. The tracking algorithm provides smoothed and predicted data for target position and velocity(Doppler). To this end, the fixed gain filter(${\alpha}{\beta}$ filter, ${\alpha}{\beta}{\gamma}$ filter) and dynamic filter(Kalman filter, Singer-Kalman filter, etc) are commonly used. Gating is used to decide whether an observation is assigned to an existing track or new track. Gating algorithms are normally based on computing a statistical error distance between an observation and prediction. The data association takes the observation-to-track pairings that satisfied gating and determines which observation-to-track assignment will actually be made. For data association, NNPDA(Nearest Neighbor Probabilistic Data Association) algorithm is proposed. In this paper, we designed a target tracking system developed for an Automotive Radar System. We show the experimental results of the 77GHz FMCW radar sensor on the roads. Four tracking algorithms(${\alpha}{\beta}$ filter, ${\alpha}{\beta}{\gamma}$ filter, 2nd order Kalman filter, Singer-Kalman filter) have been compared and analyzed to evaluate the performance in test scenario.

• 한국산업정보학회논문지
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• 제20권6호
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• pp.47-56
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• 2015

다중센서 시스템에서 센서 바이어스를 제거하는 센서 등록 과정은 각각의 센서가 공통된 좌표를 갖게 하기 위해 반드시 필요하다. 만약 센서 등록 과정을 적절하게 처리하지 않는다면, 거대한 추적 에러 또는 같은 목표물을 향한 다수의 허수 트랙이 발생하게 되어 추적에 실패하게 된다. 특히, 발사체 추적에 있어서 각각의 추적 장비는 반드시 적절한 센서등록 과정을 거쳐야 하며, 이 후 다중센서 융합알고리즘을 활용하면 발사체 추적 성능을 높이고 다중 추적 시스템에 정확한 지향입력으로 활용 가능하게 된다. 본 논문에서는 실시간 바이어스 추정/제거 알고리즘과 비동기 다중 센서 융합 기법을 제안하였다. 제안된 바이어스 추정 알고리즘은 GPS와 다중 레이더 간의 의사 바이어스 측정치를 활용하였고, 비동기 센서 융합알고리즘 적용을 통해 추적 성능을 향상하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.23.5-23
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• 2001

This paper is concerned with the vehicle platooning in the AHS (Automated Highway Systems). For this, a relative navigation system is developed for the vehicles operating as a platoon. The relative navigation system is based on two sensors including GPS and MMWR (Millimeter-Wave Radar) and the federated Kalman Iter processing measurements of them. The architecture of this system requires GPS measurements of a preceding vehicle via communication link. Even if GPS measurements are available, they contain errors which are unacceptably high in vehicle platooning. Therefore, GPS carrier phase is considered. Integer ambiguities of GPS carrier phase measurements are determined by using MMWR ...