• Proceedings of the KIEE Conference
• /
• 2006.04a
• /
• pp.54-56
• /
• 2006

To get the robust and reliable input command, we designed shaping function for target tracking system with commander's handle. Input signals of the commander's handle are generated by human operator. It is response of the human to reduce the error between target and gun. But, tracking error while operator aim a moving target manually gives poor system performance. Input noise, particularly, affects hit accuracy as the system performance. We proposed the design method of input command shaping to reduce the Input noise and to improve the operation ability and convenience. We performed the experiments with combat vehicle, example of Target Tracking System, to show the proposed method is efficient and practical.

• Journal of Information Processing Systems
• /
• v.7 no.1
• /
• pp.17-28
• /
• 2011

Despite the fact that the deployment of sensor networks and target tracking could both be managed by taking full advantage of Voronoi diagrams, very little few have been made in this regard. In this paper, we designed an optimized barrier coverage and an energy-efficient clustering algorithm for forming Vonoroi-based Wireless Sensor Networks(WSN) in which we proposed a mobile target tracking scheme (CTT&MAV) that takes full advantage of Voronoi-diagram boundary to improve detectability. Simulations verified that CTT&MAV outperforms random walk, random waypoint, random direction and Gauss-Markov in terms of both the average hop distance that the mobile target moved before being detected and lower sensor death rate. Moreover, we demonstrate that our results are robust as realistic sensing models and also validate our observations through extensive simulations.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.29 no.1 s.232
• /
• pp.139-144
• /
• 2005

A vehicle cruise control algorithm using an Interacting Multiple Model (IMM)-based Multi-Target Tracking (MTT) method has been presented in this paper. The vehicle cruise control algorithm consists of three parts; track estimator using IMM-Probabilistic Data Association Filter (PDAF), a primary target vehicle determination algorithm and a single-target adaptive cruise control algorithm. Three motion models; uniform motion, lane-change motion and acceleration motion. have been adopted to distinguish large lateral motions from longitudinal motions. The models have been validated using simulated and experimental data. The improvement in the state estimation performance when using three models is verified in target tracking simulations. The performance and safety benefits of a multi-model-based MTT-ACC system is investigated via simulations using real driving radar sensor data. These simulations show system response that is more realistic and reflective of actual human driving behavior.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.13 no.6
• /
• pp.321-328
• /
• 2018

This paper presents an automatic target tracking flight system using a PID controller based on velocity command of a multirotor UAV. The automatic flight system includes marker based onboard target detection and an automatic velocity command generation replacing manual controller. A quad-rotor UAV is equipped with a camera and an image processing computer to detect the marker in real time and to estimate the relative distance from the target. The marker tracking system consists of PID controller and generates velocity command based on the relative distance. The generated velocity command is used as the input of the UAV's original flight controller. The operation of the proposed system was verified through actual flight tests using a marker on top of a moving vehicle and tracks it to successfully demonstrate its capability using a quad-rotor UAV.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.17 no.6
• /
• pp.355-365
• /
• 2022

This paper addresses the problem of real-time tracking a high-speed ballistic target. Particle filters can be considered to overcome the nonlinearity in motion and measurement models in the ballistic target. However, it is difficult to apply particle filters to real-time systems because particle filters generally require much computation time. This paper proposes an accelerated particle filter using graphics processing unit (GPU) for real-time ballistic target tracking. The real-time performance of the proposed method was tested and analyzed on a widely-used embedded system. The comparison results with the conventional particle filter on CPU (central processing unit) showed that the proposed method improved the real-time performance by reducing computation time significantly.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.35 no.11A
• /
• pp.1078-1084
• /
• 2010

The tracking performance of a big parabola tracking antenna system for tracking and receiving of the signal from the vehicle is impacted by many factors of the internal and the external of the system. In this paper, we analyze the tracking error due to the radio refraction in the application of the tracking and positioning of the vehicle by using radio frequency. The real measurement data are used for the analysis which had been acquired by using GPS and the tracking systems of C- and S-band frequencies in NARO Space centre. To verify the correlation between the tracking errors measured and the radio refraction, we review the error factors and the accuracies of the tracking systems, and the characteristics of the refractivity. The analysis shows that there are angular errors which are due to the radio refraction and not to be neglected, compared to the accuracies of the tracking systems, in case of low elevation angle less than 10 degrees. Also, the tracking errors depend on the target altitude as well as the elevation angle for the case of the target in the troposphere. It is recommended to correct the tracking angle considering the target altitude and elevation angle for the precise target positioning.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.7 no.5
• /
• pp.1166-1179
• /
• 2013

In wireless sensor network (WSN) environments, environmental noises are generated by, for example, small passing animals, crickets chirping or foliage blowing and will interfere target detection if the noises are higher than the sensor threshold value. For accurate tracking by acoustic WSNs, these environmental noises should be filtered out before initiating track. This paper presents the effect of environmental noises on target tracking and proposes a new algorithm for the noise mitigation in acoustic WSNs. We find that our noise mitigation algorithm works well even for targets with sensing range shorter than the sensor separation as well as with longer sensing ranges. It is also found that noise duration at each sensor affects the performance of the algorithm. A detection algorithm is also presented to account for the Doppler effect which is an important consideration for tracking higher-speed ground targets. For tracking, we use the weighted sensor position centroid to represent the target position measurement and use the Kalman filter (KF) for tracking.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.14 no.3
• /
• pp.405-413
• /
• 2011

Defense Systems Test Center in ADD supports increasingly various missile test requirements such as higher altitude event, multi target operation and low-altitude, high velocity target tracking. In this paper, we have proposed the development of instrumentation radar tracking status simulator based on virtual reality. This simulator can predict the tracking status and risk of failure using several modeling algorithms. It consists of target model, radar model, environment model and several algorithms includes the multipath interference effects. Simulation results show that the predict tracking status and signal are similar to the test results of the live flight test. This simulator predicts and analyze all of the status and critical parameters such as the optimal site location, servo response, optimal flight trajectory, LOS(Line of Sight). This simulator provides the mission plan with a powerful M&S tool to rehearse and analyze instrumentation tracking radar measurement plan for live flight test at DSTC(Defense Systems Test Center).

• Journal of the Society of Naval Architects of Korea
• /
• v.42 no.4 s.142
• /
• pp.299-306
• /
• 2005

To determine a guidance law which is suitable for Target Tracking System(TTS) of an underwater vehicle, the performance (hitting probability) of TTS were calculated with four different guidance schemes, considering underwater vehicle's manoeuvrability and characteristics of seeking equipment such as sonar To evaluate the performance of TTS with each guidance law, numerous target-tracking simulations of underwater vehicle were performed under the condition of target's various motion scenario. Furthermore, the effect of sonar characteristics to the performance of guidance law in TTS was studied by changing parameters of sonar such as frequency of ping and detecting error of target. The pursuit-tail guidance law showed the best performance among four different guidance laws. Complex motion of target from straight line to turning circle and zigzag movement, low frequency of sonar ping and large detecting error of target decreased the hitting probability.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.62 no.6
• /
• pp.852-862
• /
• 2013

This paper proposes a target tracking control method for wheeled mobile robots with nonholonomic constraints by using a backstepping-like feedback linearization. For the target tracking, we apply a vision system to mobile robots to obtain the relative posture information between the mobile robot and the target. The robots do not use the sensors to obtain the velocity information in this paper and therefore assumed the unknown velocities of both mobile robot and target. Instead, the proposed method uses only the maximum velocity information of the mobile robot and target. First, the pseudo command for the forward linear velocity and the heading direction angle are designed based on the kinematics by using the obtained image information. Then, the actual control inputs are designed to make the actual forward linear velocity and the heading direction angle follow the pseudo commands. Through simulations and experiments for the mobile robot we have confirmed that the proposed control method is able to track target even when the velocity sensors are not used at all.