• 전기학회논문지
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• 제65권6호
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• pp.1019-1025
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• 2016

This paper proposes a parallel reduced-order square-root unscented Kalman filter for state estimation of a sensorless permanent-magnet synchronous motor. The appearance of an unscented Kalman filter is caused by the linearization process error between a real system and classical Kalman model. The unscented transformation can make a more accurate Kalman model. However, the complexity is its main drawback. This paper investigates the design and implementation of the proposed filter with Potter and Carlson square-root form. The proposed parallel reduced-order square-root unscented Kalman filter reduces memory and code size, and improves numerical computation. And the performance is not significantly different from the unscented Kalman filter. The experimentation is performed for the verification of the proposed filter.

• 한국시뮬레이션학회논문지
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• 제27권3호
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• pp.99-107
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• 2018

본 논문에서는 비선형성을 가지는 측정방정식의 상태값을 효과적으로 추정할 수 있는 확장칼만필터(Extended Kalman Filter/EKF)와 확장칼만필터의 변종들 그리고 코스트 레퍼런스 파티클필터(Cost-Reference Particle Filter/CRPF)를 이용하여 이차원 공간에서 표적추적 성능에 관하여 연구한다. 확장칼만필터의 변종으로 분산점칼만필터(Unscented Kalman Filter/UKF), 중심차분칼만필터(Central Difference Kalman Filter/CDKF), 제곱근 분산점칼만필터(Square Root Unscented Kalman Filter/SR-UKF) 그리고 제곱근 중심차분칼만필터(Square Root Central Difference Kalman Filter/SR-CDKF)를 소개한다. 본 연구에서는 노이즈가 불확실한 표적에 대하여 몬테카를로 시뮬레이션 기법을 이용하여 각 필터들의 평균제곱오차(Mean Square Error/MSE)를 계산하였다. 시뮬레이션 결과 확장칼만필터의 변종들 중에서 제곱근 중심차분칼만필터가 속도와 성능 면에서 가장 우수한 결과를 보여주었다. 코스트 레퍼런스 파티클 필터는 확장칼만필터와 다르게 노이즈의 확률 분포를 알 필요가 없다는 유리한 특성을 가지고 있으며 시뮬레이션 결과 제곱근 중심차분칼만필터보다 처리속도 및 정확도 면에서 우수한 결과를 보여주었다.

• Journal of Advanced Marine Engineering and Technology
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• 제40권3호
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• pp.217-222
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• 2016

본 논문은 수정된 Gram-Schmidt와 결합한 Potter 또는 Carlson 알고리즘을 가지는 제곱근 확장 칼만 필터에 의한 영구자석 동기전동기의 센서리스 속도 제어에 관한 연구이다. 일반적으로 반올림 오차에 기인하는 칼만 필터의 민감도는 잘 알려진 문제이다. 제곱근 개념과 칼만 필터의 결합은 수치적 성능을 향상할 수 있고 발산과 같은 불안전한 문제를 풀 수 있다. 본 논문에서는 제곱근 확장 칼만 필터의 구현을 위한 설계와 분석을 수행하였다. 설계된 제곱근 확장 칼만 필터의 추정 성능을 입증하기 위해, 고속, 저속, 역 회전, 파라미터 변동, 부하 변동 실험 등 여러 운전 조건 아래에서 실험 결과들을 분석하였다. 또한, 프로그램 코드 크기 및 연산 시간을 비교하였다. 실험적 결과들은 제곱근 확장 칼만 필터에 의한 영구자석 동기전동기의 센서리스 속도 제어가 양호함을 보인다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2001년도 하계종합학술대회 논문집(4)
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• pp.261-264
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• 2001

In this paper, we introduce a simple design method f9r mot-squared type raised cosine filter with equiripple characteristics. Through some design examples, we show that the proposed filter has much better performance in ripple than the conventional SRCF at the expense of small increasing of ISI. In addition, the proposed Inter is compatible with conventional SRCF. Finally, we designs the filter for W-CDMPI which uses RRC (Root Raised Cosine) with a=0.22, in 12bit finite precision.

• 대한전자공학회논문지TC
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• 제40권2호
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• pp.64-69
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• 2003

본 논문에서는 통신 시스템에서 많이 사용되는 자승근(Square-root)형 파형성형 필터인 Raised Cosine Filter. 즉 SRCF를 기존의 최적 필터 설계 방식을 사용하여 등리플(equiripple)로 설계하는 간단한 방법을 제시한다. 몇 개의 예제를 통하여 제안된 필터는 기존의 SRCF에 비해 약간의 ISI 성능 저하가 발생하지만, 대역 특성이 훨씬 우수함을 보이면서도 기존의 SRCF와 호환성을 가지고 있는 장점이 있다. 제안된 방식으로 WCDMA에서 정의한 a=0.22의 RRC(Root Raised Cosine) 필터를 12비트로 설계한 것을 제시하였다.

• Journal of Electrical Engineering and information Science
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• 제1권2호
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• pp.39-44
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• 1996

An efficient interacting multiple mode(IMM) approach for tracking a maneuvering target with kinematic constraints is described based on the square root information filter(SRIF). The SRIF is employed instead of the conventional Kalman filter since it exhibits more efficient features in handling the kinematic constraints and improved numerical characteristics. The kinematic constraints are considered in the filtering process as pseudomeasurements where the degree of uncertainty is represented by the magnitude of the pseudomeasurement noise variance. The Monte Carlo simulations for the constant speed, maneuvering target are provided to demonstrate the improved tracking performance of the proposed algorithm.

• Transactions on Control, Automation and Systems Engineering
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• 제2권2호
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• pp.110-115
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• 2000

A receding horizon FIR filter is suggested for discrete time-varying systems, combining the Kalman filter with the receding horizon strategy. The suggested filter is shown to be an FIR structure that has many good ingerent properties. The suggested filter is represented in an iterative form and also in a standard FIR form. The suggested filter turns out to be a remarkable deadbeat observer that is often robust against system and measurement noises. It is also shown that the suggested filter is an unbiased estimator irrespective of any horizon initial condition. For the amenability to parallel and systolic implementation as well as the numerical stability, a square-root algorithm for the suggested filter is presented. To evaluate performance, the suggested filter is applied to a problem of unknown input estimation and compared with the existing Kalman filter based approach.

• Journal of Communications and Networks
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• 제9권1호
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• pp.18-27
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• 2007

The conventional normalized least mean square (NLMS) algorithm is the most widely used for adaptive identification within a non-stationary input context. The convergence of the NLMS algorithm is independent of environmental changes. However, its steady state performance is impaired during input sequences with low dynamics. In this paper, we propose a new NLMS algorithm which is, in the steady state, insensitive to the time variations of the input dynamics. The square soot (SR)-NLMS algorithm is based on a normalization of the LMS adaptive filter input by the Euclidean norm of the tap-input. The tap-input power of the SR-NLMS adaptive filter is then equal to one even during sequences with low dynamics. Therefore, the amplification of the observation noise power by the tap-input power is cancelled in the misadjustment time evolution. The harmful effect of the low dynamics input sequences, on the steady state performance of the LMS adaptive filter are then reduced. In addition, the square root normalized input is more stationary than the base input. Therefore, the robustness of LMS adaptive filter with respect to the input non stationarity is enhanced. A performance analysis of the first- and the second-order statistic behavior of the proposed SR-NLMS adaptive filter is carried out. In particular, an analytical expression of the step size ensuring stability and mean convergence is derived. In addition, the results of an experimental study demonstrating the good performance of the SR-NLMS algorithm are given. A comparison of these results with those obtained from a standard NLMS algorithm, is performed. It is shown that, within a non-stationary input context, the SR-NLMS algorithm exhibits better performance than the NLMS algorithm.

• ETRI Journal
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• 제32권6호
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• pp.911-920
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• 2010

This paper presents a method of designing hybrid analog/asymmetrical square-root (SR) FIR filters. In addition to the conventional frequency domain constraints, the proposed method considers time-domain constraints as well, including the inter-symbol interference (ISI) and the opening of the eye pattern at the receiver output. This paper also reviews a systematic way to find the discrete-time equivalence of analog parts in a band-limited digital communication system. Thus, a phase equalizer can be easily realized to compensate for the nonlinear phase responses of the analog components. With the hybrid analog/SR FIR filter co-design, examples show that using the proposed method can result in a more robust ISI performance in the presence of the receiver clock jitter.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 1998년도 가을 학술발표논문집 Vol.25 No.2 (2)
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• pp.467-468
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• 1998

Impulsive noise appears as black and/or white spots in an image. It is usually caused by errors during the image acquisition or transmission through communication channels. This paper presents a study on the impulsive noise reduction filter of digital image. A much more effective method for removing impulse noise is weighted median filtering. But it loses some information by changing center value with no condition. We propose some new technique to change center value with some conditions. In this paper, the performance of conditional weighted median filter is compared to the commonly used median filter, mean filter, max/min filter, and weighted median filter. A quantitative comparison is performed on MSE (Mean Square Error), RMSE (Root Mean Square Error), and SNR (Signal to Noise Ratio). Proposed conditional weighted median filter can yield better performance than regular filters.