• 제어로봇시스템학회논문지
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• 제17권6호
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• pp.610-618
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• 2011

For improved localization around the indoor/outdoor transit area of buildings, this paper proposes an efficient algorithm combining the measurements from the WLAN (Wireless Local Area Network) and the GPS (Global Positioning System) for. The proposed hybrid localization algorithm considers both multipath errors and NLOS (Non-Line-of-Sight) errors, which occur in most wireless localization systems. To detect and isolate multipath errors occurring in GPS measurements, the propose algorithm utilizes conventional multipath test statistics. To convert WLAN signal strength measurements to range estimates in the presence of NLOS errors, a simple and effective calibration algorithm is designed to compute conversion parameters. By selecting and combining the reliable GPS and WLAN measurements, the proposed hybrid localization algorithm provides more accurate location estimates. An experiment result demonstrates the performance of the proposed algorithm.

• 제어로봇시스템학회논문지
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• 제19권7호
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• pp.633-639
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• 2013

Several estimation methods used in the range measurement based wireless localization area have individual problems. These problems may not occur according to certain application areas. However, these problems may give rise to serious problems in particular applications. In this paper, three methods, ILS (Iterative Least Squares), DS (Direct Solution), and DSRM (Difference of Squared Range Measurements) methods are considered. Problems that can occur in these methods are defined and a simple hybrid solution is presented to solve them. The ILS method is the most frequently used method in wireless localization and has local minimum problems and a large computational burden compared with closed-form solutions. The DS method requires less processing time than the ILS method. However, a solution for this method may include a complex number caused by the relations between the location of reference nodes and range measurement errors. In the near-field region of the complex solution, large estimation errors occur. In the DSRM method, large measurement errors occur when the mobile node is far from the reference nodes due to the combination of range measurement error and range data. This creates the problem of large localization errors. In this paper, these problems are defined and a hybrid localization method is presented to avoid them by integrating the DS and DSRM methods. The defined problems are confirmed and the performance of the presented method is verified by a Monte-Carlo simulation.

• ETRI Journal
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• 제37권3호
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• pp.533-540
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• 2015

In wireless localization, several linear closed-form solution (LCS) methods have been investigated as a direct result of the drawbacks that plague the existing iterative methods, such as the local minimum problem and heavy computational burden. Among the known LCS methods, both the direct solution method and the difference of squared range measurements method are considered in this paper. These LCS methods do not have any of the aforementioned problems that occur in the existing iterative methods. However, each LCS method does have its own individual error property. In this paper, a hybrid LCS method is presented to reduce these errors. The hybrid LCS method integrates the two aforementioned LCS methods by using two check points that give important information on the probability of occurrence of each LCS's individual error. The results of several Monte Carlo simulations show that the proposed method has a good performance. The solutions provided by the proposed method are accurate and reliable. The solutions do not have serious errors such as those that occur in the conventional standalone LCS and iterative methods.

• 한국항행학회논문지
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• 제12권5호
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• pp.483-493
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• 2008

IEEE 802.11 WLAN 표준에 근거한 수신 신호세기 측정치에 기반하여 무선 측위를 수행함에 있어서 이기종 이동기기 수신 감도 문제는 이동기기의 종류가 다양해짐에 따라 중요한 문제로 인식되고 있다. 본 논문에서는 이기종 이동기기 수신 감도 문제를 효과적으로 극복할 수 있는 Hybrid Kriging 알고리즘을 제안하고 시뮬레이션과 실험을 통하여 그 성능을 분석하였다. 시뮬레이션과 실험 결과에 의하면 동일한 기준 측정치가 주어진 경우 제안된 Hybrid Kriging 알고리즘이 현제 널리 활용되고 있는 위치 지문 알고리즘에 비하여 이동기기 수신 신호세기 바이어스가 존재하는 경우에도 보다 더 정확한 위치해를 생성할 수 있음을 알 수 있었다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2018년도 춘계학술대회
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• pp.30-31
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• 2018

선박 내부의 경우 철 구조물 특성 및 NLOS(Non-Line of Sight) 환경에 의하여 심한 RF 간섭이 발생하기 때문에 실내 위치 측정에 어려움이 있다. 본 논문에서는 선박 내부 환경에서 측위 정확성을 높이기 위해 ZigBee, UWB, LF 기술들을 이용하는 무선 복합 측위 시스템을 제안하고 실제 선박 환경에 적용하여 특성을 검증하였다. 제안된 시스템은 LF 기술을 이용하여 층간 구분을 하고, 선박 내부에 설치된 다수의 AP로부터 ZigBee, UWB 위치 데이터를 수집해 선박 내부 공간 유형에 따라 선택적으로 알고리즘을 적용하여 위치를 측정하고 편의 서비스 및 구조 지원 서비스를 제공 할 수 있다.

• 한국통신학회논문지
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• 제37C권9호
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• pp.774-783
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• 2012

이 논문에서는 안전하고, 오래 지속되고, 휴대기능의 하이브리드 측위 시스템을 제안하고 구현한다. 제안된 시스템은 목표물의 위치정보에 대응하는 가시광 데이터를 생산하는 LED 조명, 저 전력 우수한 보안성, 서비스 확장 범위 기능 특성을 가지는 지그비 무선 네트워크 모듈로 구성이 된다. 제작된 하이브리드 측위 시스템을 목표물과 관측자사이 23.62m 거리이고 장애물이 있는 실내 환경에서 시험하여 지그비 삼단 다중홉 애드혹 무선 네트워킹과 가시광 동작 기능들을 검증하고, 하이브리드 측위 알고리즘, 신호 추정 과정, 하드웨어 구현, 임베디드 소프트웨어 개발 등에 대해 설명하고, 측위 시험 결과에 대해 다룬다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제16권9호
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• pp.3194-3210
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• 2022

Wall obstruction is the main factor leading to the non-line of sight (NLoS) error of indoor localization based on received signal strength indicator (RSSI). Modeling and correcting the path loss of the signals through the wall will improve the accuracy of RSSI localization. Based on electromagnetic wave propagation theory, the reflection and transmission process of wireless signals propagation through the wall is analyzed. The path loss of signals through wall is deduced based on power loss and RSSI definition, and the theoretical model of path loss of signals through wall is proposed. In view of electromagnetic characteristic parameters of the theoretical model usually cannot be accurately obtained, the statistical model of NLoS error caused by the signals through the wall is presented based on the log-distance path loss model to solve the parameters. Combining the statistical model and theoretical model, a hybrid model of path loss of signals through wall is proposed. Based on the empirical values of electromagnetic characteristic parameters of the concrete wall, the effect of each electromagnetic characteristic parameters on path loss is analyzed, and the theoretical model of regional path loss of signals through the wall is established. The statistical model and hybrid model of regional path loss of signals through wall are established by RSSI observation experiments, respectively. The hybrid model can solve the problem of path loss when the material of wall is unknown. The results show that the hybrid model can better express the actual trend of the regional path loss and maintain the pass loss continuity of adjacent areas. The validity of the hybrid model is verified by inverse computation of the RSSI of the extended region, and the calculated RSSI is basically consistent with the measured RSSI. The hybrid model can be used to forecast regional path loss of signals through the wall.

• 제어로봇시스템학회논문지
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• 제21권11호
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• pp.1057-1063
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• 2015

This paper proposes a new nonlinear filtering algorithm that combines the unscented Kalman filter (UKF) and the finite impulse response (FIR) filter. The proposed filter is called the unscented Kalman/FIR hybrid filter (UKFHF). In the UKFHF algorithm, the UKF is used as the main filter, which produces state estimates under ideal conditions. When failures of the UKF are detected, the FIR filter is operated. Using the output of the FIR filter, the UKF is reset and rebooted. In this way, the UKFHF recovers from failures. The proposed UKFHF is applied to indoor human localization using wireless sensor networks. Through simulations, the performance of the UKFHF is demonstrated in comparison with that of the UKF.

• 한국통신학회논문지
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• 제38C권2호
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• pp.155-164
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• 2013

종래 측위 기법들의 큰 추정 오차, 고비용, 제한된 서비스 범위 등의 문제점들을 극복하기 위해, 가시광 통신과 애드혹 무선 네트워크 인프라를 사용하여 정확하고 편리한 두 가지 하이브리드 측위 설계 기법들을 제안한다. 한가지 방법은 저속의 광 센싱, 좁은 범위의 가시광 수신, 장거리 측위 등의 서비스를 위한 비캐리어 가시광 통신기반의 하이브리드 측위 기법이며, 또 다른 방식은 고속 광 센싱, 넓은 범위의 가시광 수신, 중거리 측위 등의 서비스를 위한 4 MHz 캐리어를 사용하는 가시광 통신 기반의 하이브리드 측위 기법이다. 이 논문에서는 장애물이 있는 실내 환경에서 목표물과 관측자사이 7731.4cm 장거리와 2368cm 중거리 범위일 때, 각각 두 가지 기법으로 하이브리드 측위 시스템들이 구현되어 측위가 수행되고, 제안 시스템이 검증과 분석된다.

• Journal of Communications and Networks
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• 제18권3호
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• pp.397-410
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• 2016

This paper proposes a novel cooperative localization method for distributed wireless networks in 3-dimensional (3D) global positioning system (GPS) denied environments. The proposed method, which is referred to as hybrid ellipsoidal variational algorithm (HEVA), combines the use of non-parametric belief propagation (NBP) and variational Bayes (VB) to benefit from both the use of the rich information in NBP and compact communication size of a parametric form. InHEVA, two novel filters are also employed. The first one mitigates non-line-of-sight (NLoS) time-of-arrival (ToA) messages, permitting it to work well in high noise environments with NLoS bias while the second one decreases the number of calculations. Simulation results illustrate that HEVA significantly outperforms traditional NBP methods in localization while requires only 50% of their complexity. The superiority of VB over other clustering techniques is also shown.