• International Journal of Control, Automation, and Systems
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• v.5 no.4
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• pp.388-396
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• 2007

This paper describes a multipath estimation method for Global Positioning System (GPS) dual frequency carrier phase measurements. Multipath is a major error source in high precision GPS applications, i.e., carrier phase measurements for precise positioning and attitude determinations. In order to estimate and remove multipath at carrier phase measurements, an array GPS antenna system has been used. The known geometry between the antennas is used to estimate multipath parameters. Dual frequency carrier phase measurements increase the redundancy of measurements, so it can reduce the number of antennas. The unscented Kalman filter (UKF) is recently applied to many areas to overcome some of the limitations of the extended Kalman filter (EKF) such as weakness to severe nonlinearity. This paper uses the UKF for estimating multipath parameters. A series of simulations were performed with GPS antenna arrays located on a straight line with one reflector. The geometry information of the antenna array reduces the number of estimated multipath parameters from four to three. Both the EKF and the UKF are used as estimation algorithms and the results of the EKF and the UKF are compared. When the initial parameters are far from true parameters, the UKF shows better performance than the EKF.

• Journal of Ocean Engineering and Technology
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• v.29 no.6
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• pp.488-498
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• 2015

This paper presents the dynamic model of an AUV called HW200 for underwater surveillance. The mathematical model of HW200 is briefly introduced, considering its shape. The maneuvering coefficients were initially estimated using empirical formulas and a database of vehicles with similar shapes. A motion simulator, based on Simulink of Mathworks, was developed to evaluate the mathematical model of the vehicle and to tune the maneuvering coefficients. The parameters were finely tuned by comparing the experimental results and simulated responses generated with the simulator by applying the same control inputs as the experiment. The velocity of HW200 in the tuning process was fixed at a constant forward speed of 1.83 m/s. Simulations with variable speed commands were conducted, and the results showed good consistency in the motion response, attitude, and velocity of the vehicle, which were similar to those of the experiment even under the speed variation. This paper also discusses the feasibility of its application to a model-based integrated navigation system (INS) using the auxiliary information on the velocities generated by the model.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.23 no.2
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• pp.137-145
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• 2005

In this paper, we investigate the accuracy of various sensor models developed for linear pushbroom satellite images. We define the accuracy of a sensor model in two aspects: the accuracy of bundle adjustments and the accuracy of estimating exterior orientation parameters. The first accuracy has been analyzed and reported frequently whereas the second accuracy has somewhat been neglected. We argue that the second accuracy is as important as the first one. The second accuracy describes a model's ability to predict satellite orbit and attitude, which has many direct and indirect applications. Analysis was carried out on the traditional collinearity-based sensor models and orbit-based sensor models. Collinearity-based models were originally developed for aerial photos and modified for linear pushbroom-type satellite images. Orbit-based models have been used within satellite communities for satellite control and orbit determination. Models were tested with two Kompsat-1 EOC scenes and GPS-driven control points. Test results showed that orbit-based models produced better estimation of exterior orientation parameters while maintained comparable accuracy on bundle adjustments.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.4
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• pp.318-325
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• 2015

Pico satellite has limited surface to install the solar cells due to its extremely limited size. Also, the sun incidence angle with respect to the solar panel continuously varies according to the attitude control strategy and its important parameter for the power generation. In this study, a concentrating photovoltaic system for pico satellite application has been proposed that can enhance the power generation efficiency in case of the unfavorable condition of the sun incidence angle with respect to the solar panel of the satellite using the fresnel lens. To prove the possibility of maximizing the power generation efficiency of the proposed concentrating power system, we have performed the power measurement test using a solar simulator and commercial fresnel lens. And on-orbit analysis of the power generation efficiency using the STK which is a commercial S/W has also been performed based on the test results.

• Journal of Biomedical Engineering Research
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• v.16 no.4
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• pp.507-516
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• 1995

The nonstationary identifier in the DCT domain is suggested in this study for the identification of AR parameters of above-lesion upper-trunk electromyographic (EMG) signals as a means of developing a reliable real time signal to control functional electrical stimulation (FES) in paraplegics to enable primitive walking. As paraplegic shifts his posture from one attitude to another, there is transition period where the signal is clearly nonstationary. Also as muscle fatigues, nonstationarities become more prevalent even during stable postures. So, it requires a develpment of time varying nonstationary EMG signal identifier. In this paper, time varying nonstationary EMG signals are transformed into DCT domain and the transformed EMG signals are modeled and analyzed in the transform domain. In the DCT domain, we verified reduction of condition number and increment of the smallest eigenvalue of input correlation matrix that influences numerical properties and mean square error were compared with SLS algorithm, and the proposed algorithm is implemented using IMS T-805 parallel processing computer for real time application.