• 제어로봇시스템학회논문지
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• 제14권6호
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• pp.595-602
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• 2008

In this paper, performance of the initial alignment for INS whose attitude is not leveled is investigated. Observability of the initial alignment filter is analyzed and estimation errors of the estimated state variables are derived. First, the observability is analyzed using the rank test of observability matrix and the normalized error covariance of the Kalman filter based on the 10-state model. In result, it can be seen that the accelerometer biases on horizontal axes are unobservable. Second, the steady-state estimation errors of the state variables are derived using the observability equation. It is verified that the estimates of the state variables have errors due to the unobservable state variables and the non-leveling tilt angles of a vehicle containing the INS. Especially, this paper shows that the larger the tilt angles of the vehicle are, the larger the estimation errors corresponding to the sensor biases are. Finally, it is shown that the performance of the 8-state model excepting the accelerometer biases on horizontal axes is better than that of the 10-state model in the initial alignment by simulation.

• ETRI Journal
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• 제34권3호
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• pp.379-387
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• 2012

In this paper, an error compensation technique for a dead reckoning (DR) system using a magnetic compass module is proposed. The magnetic compass-based azimuth may include a bias that varies with location due to the surrounding magnetic sources. In this paper, the DR system is integrated with a Global Positioning System (GPS) receiver using a finite impulse response (FIR) filter to reduce errors. This filter can estimate the varying bias more effectively than the conventional Kalman filter, which has an infinite impulse response structure. Moreover, the conventional receding horizon Kalman FIR (RHKF) filter is modified for application in nonlinear systems and to compensate the drawbacks of the RHKF filter. The modified RHKF filter is a novel RHKF filter scheme for nonlinear dynamics. The inverse covariance form of the linearized Kalman filter is combined with a receding horizon FIR strategy. This filter is then combined with an extended Kalman filter to enhance the convergence characteristics of the FIR filter. Also, the receding interval is extended to reduce the computational burden. The performance of the proposed DR/GPS integrated system using the modified RHKF filter is evaluated through simulation.

• Industrial Engineering and Management Systems
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• 제16권1호
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• pp.92-102
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• 2017

In this paper, we consider a typical health care system via the help of Wireless Sensor Network (WSN) for wireless patient tracking. The wireless patient tracking module of this system performs localization out of samples of Received Signal Strength (RSS) variations and tracking through a Particle Filter (PF) for WSN assisted by multiple transmit-power information. We propose a modified PF, Kullback-Leibler Distance (KLD)-resampling PF, to ameliorate the effect of RSS variations by generating a sample set near the high-likelihood region for improving the wireless patient tracking. The key idea of this method is to approximate a discrete distribution with an upper bound error on the KLD for reducing both location error and the number of particles used. To determine this bound error, an optimal algorithm is proposed based on the maximum gap error between the proposal and Sampling Important Resampling (SIR) algorithms. By setting up these values, a number of simulations using the health care system's data sets which contains the real RSSI measurements to evaluate the location error in term of various power levels and density nodes for all methods. Finally, we point out the effect of different power levels vs. different density nodes for the wireless patient tracking.

• 한국항행학회논문지
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• 제15권4호
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• pp.536-542
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• 2011

본 논문에서는 GPS/INS 강결합 시스템에서 다중경로 오차에 대한 EKF와 total-state UKF 두 가지 필터의 성능을 비교 분석하였다. 도심 빌딩숲에서 많이 발생하는 다중경로 오차가 없는 경우와 있는 경우에 대하여 시뮬레이션을 수행하였고, 위성이 3개만 보이는 경우에 두 필터의 추정 성능을 비교하였다. 다중경로 오차가 없을 경우보다 있는 경우에 total-state UKF가 EKF에 비하여 더 좋은 추정 성능을 보여서 total-state UKF의 성능이 더 강인함을 확인할 수 있었다.

• 한국산학기술학회논문지
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• 제13권8호
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• pp.3642-3646
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• 2012

본 논문에서는 광통신시스템에서 사용되는 필터의 대역폭과 시스템의 에러 확률과의 상관관계에 대해 연구를 수행하였다. 이를 위하여 전치증폭시스템에서 발생하는 에러확률을 수신기의 감도에 관한 함수로 나타내었으며 수신기 감도를 다양한 에러 확률에 대해 계산을 수행하였다. 또한 다양한 에러확률에 대한 채널당 데이터 전송률의 함수의 변화에 대한 수신기 필터의 최적의 대역폭을 계산하였는데, 같이 최적 상태에서 동작하기 위해 필요한 필터의 대역폭 범위는 채널당 데이터 전송율이 1에서 10Gb/s의 범위일 때, 0.2에서 3.5nm 사이이다.

• 로봇학회논문지
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• 제19권1호
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• pp.23-30
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• 2024

This paper studies a GPS error filtering method that takes into account the continuity of the ongoing path to enhance the safety of autonomous agricultural mobile robots. Real-Time Kinematic Global Positioning System (RTK-GPS) is increasingly utilized for robot position evaluation in outdoor environments due to its significantly higher reliability compared to conventional GPS systems. However, in orchard environments, the robot's current position obtained from RTK-GPS information can become unstable due to unknown disturbances like orchard canopies. This problem can potentially lead to navigation errors and path deviations during the robot's movement. These issues can be resolved by filtering out GPS information that deviates from the continuity of the waypoints traversed, based on the robot's assessment of its current path. The contributions of this paper is as follows. 1) The method based on the previous waypoints of the traveled path to determine the current position and trajectory. 2) GPS filtering method based on deviations from the determined path. 3) Finally, verification of the navigation errors between the method applying the error filter and the method not applying the error filter.

• 대한의용생체공학회:의공학회지
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• 제28권6호
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• pp.817-824
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• 2007

Tractography using Diffusion Tensor Magnetic Resonance Imaging (DT-MRI) is a method to determine the architecture of axonal fibers in the central nervous system by computing the direction of the principal eigenvector in the white matter of the brain. However, the fiber tracking methods suffer from the noise included in the diffusion tensor images that affects the determination of the principal eigenvector. As the fiber tracking progresses, the accumulated error creates a large deviation between the calculated fiber and the real fiber. This problem of the DT-MRI tractography is known mathematically as the ill-posed problem which means that tractography is very sensitive to perturbations by noise. To reduce the noise in DT-MRI measurements, a tensor-valued median filter which is reported to be denoising and structure-preserving in fiber tracking, is applied in the tractography. In this paper, we proposed the modified gradient descent method which converges fast and accurately to the optimal tensor-valued median filter by changing the step size. In addition, the performance of the modified gradient descent method is compared with others. We used the synthetic image which consists of 45 degree principal eigenvectors and the corticospinal tract. For the synthetic image, the proposed method achieved 4.66%, 16.66% and 15.08% less error than the conventional gradient descent method for error measures AE, AAE, AFA respectively. For the corticospinal tract, at iteration number ten the proposed method achieved 3.78%, 25.71 % and 11.54% less error than the conventional gradient descent method for error measures AE, AAE, AFA respectively.

• 한국항해항만학회지
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• 제37권5호
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• pp.447-452
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• 2013

해상교통관제시스템(VTS)은 선박의 위치, 속도, 침로 등 해상 교통 정보를 획득하기 위하여 다수의 해상감시레이더를 주요 센서로 이용하고 있으며, 거리 및 방위각 바이어스와 같은 2차원 해상감시레이더의 시스템 오차는 레이더 영상 및 표적 추적정보의 정확도를 크게 저하시킬 수 있다. 따라서 해상교통관제시스템에서 정확한 표적정보를 제공하기 위하여 레이더의 시스템 오차는 정밀하게 보정되어야 한다. 본 논문에서는 VTS 관제영역에 설치된 항로표지의 위치정보를 이용하여 2차원 해상감시레이더의 거리 및 방위각 오차를 보정하기 위한 방법을 제안한다. 2차원 레이더 측정값의 표준오차 모델과 항로표지 위치정보로부터 측정 잔차 모델을 유도하고, 레이더 시스템 오차를 추정하기 위한 선형 칼만필터를 설계한다. Monte-Carlo 모의실험을 통하여 제안한 방법을 검증하고, 항로표지 정보의 개수에 따른 레이더 시스템 오차 추정의 수렴 특성 및 정확도를 분석한다.

• 대기
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• 제20권3호
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• pp.287-306
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• 2010

An ensemble Kalman filter (EnKF) with Weather Research and Forecasting (WRF) Model is applied for Typhoon Wukong (200610) to investigate the performance of ensemble forecasts depending on experimental configurations of the EnKF. In addition, the ensemble sensitivity analysis is applied to the forecast and analysis ensembles generated in EnKF, to investigate the possibility of using the ensemble sensitivity analysis as the adaptive observation guidance. Various experimental configurations are tested by changing model error, ensemble size, assimilation time window, covariance relaxation, and covariance localization in EnKF. First of all, experiments using different physical parameterization scheme for each ensemble member show less root mean square error compared to those using single physics for all the forecast ensemble members, which implies that considering the model error is beneficial to get better forecasts. A larger number of ensembles are also beneficial than a smaller number of ensembles. For the assimilation time window, the experiment using less frequent window shows better results than that using more frequent window, which is associated with the availability of observational data in this study. Therefore, incorporating model error, larger ensemble size, and less frequent assimilation window into the EnKF is beneficial to get better prediction of Typhoon Wukong (200610). The covariance relaxation and localization are relatively less beneficial to the forecasts compared to those factors mentioned above. The ensemble sensitivity analysis shows that the sensitive regions for adaptive observations can be determined by the sensitivity of the forecast measure of interest to the initial ensembles. In addition, the sensitivities calculated by the ensemble sensitivity analysis can be explained by dynamical relationships established among wind, temperature, and pressure.

• 한국통신학회논문지
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• 제23권7호
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• pp.1777-1784
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• 1998

광 패킷 어드레스 처리기의 광섬유 지연선로 정합여파기 출력으로 나타나는 M-ary 상관 펄스를 검출하기 위해 EDFA 전치증폭기를 사용한 광 패킷 교환노드의 패킷 오율을 측정하였다. 어드레스 처리기에 사용된 PIN 다이오드의 잡음 등가전력, EDFA의 잡음지수와 이득, 그리고 광여파기의 대역폭이 노드의 패킷 오율에 미치는 영향을 비교 평가하였다. PIN 다이오드의 잡음 등가 전력과 EDFA의 이득은 패킷 오율 변화에 영향을 거의 미치지 않았으며, 통과 대역폭이 패킷 전송 속도의 약 10배 보다 적은 광 여파기를 사용한 경우에도 패킷 오율의 변화를 무시할 수 있었다. 그러나 EDFA의 잡음 지수가 증가하면, 본 논문에서 고려된 모든 전송속도와 어드레스 코드셋에서 잡음지수 증가량만큼 파워 페널티가 발생하였다.