• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2016년도 추계학술발표대회
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• pp.697-698
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• 2016

In this paper, we propose a novel approach to improve the accuracy for multiple low-cost drones in indoor environment. When the drones are flying, we employ sensors for checking their position in real-time. If the drones move out of their correct positions, the corresponding instructions are sent immediately. In another thread, we calibrate direction of the drones by checking yaw value. The adjustment is repeated until the drones locate at right position and direction.

• 제어로봇시스템학회논문지
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• 제12권10호
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• pp.962-967
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• 2006

Indoor positioning is highlighted recently, and various kinds of indoor positioning systems are under developments. Since positioning systems have their own characteristics, proper positioning scheme should be chosen according to the required specifications. Positioning methods are classified into time-based and angle-based one. This paper presents the error analysis of time-based and angle-based location methods. Because measurements of these methods are nonlinear, linearizations are needed in both cases to estimate the user position. In the linearization, Gauss-Newton method is used in both cases. To analyze the position error, we investigate the error ellipse parameters that include eccentricity, rotation angle, and the size of ellipse. Simulation results show that the major axes of TOA and AOA method lie in different quadrants at most region of workspace, especially where the geometry is poor. When the TOA/AOA hybrid is employed, it is found that the error ellipse is reduced to the intersection of ellipses of TOA and AOA.

• 제어로봇시스템학회논문지
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• 제12궈1호
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• pp.15-22
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• 2006

This paper presents an efficient localization scheme for an indoor mobile robot using RFID tags on the floor. The mobile robot carries an RFID reader at the bottom, which reads the RFID tags on the floor to localize the mobile robot. Each RFID tar on the floor stores its own absolute position which is used to calculate the position and velocity of the mobile robot. Locating the RFID tags on the floor, which constructs an intelligent sensor space, may require several factors to be considered: economics feasibility and accuracy. In this paper, the optimal allocation scheme of the RFID tags on the floor to satisfy the accuracy constraint has been proposed and verified by the experiments. Based on the RFID reading, the mobile robot navigation has been successfully demonstrated to avoid obstacles and to reach the goal within a pre-specified time.

• 한국정보통신설비학회:학술대회논문집
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• 한국정보통신설비학회 2008년도 정보통신설비 학술대회
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• pp.429-432
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• 2008

In this paper, performance of a double binary turbo coded ultra wide band (UWB) system is analyzed and simulated in an indoor wireless channel. Binary pulse position modulation-time hopping (BPPM-TH) signals are considered. The indoor wireless channel is modeled as a modified Saleh and Valenzuela (SV) channel. The performance is evaluated in terms of bit error probability (BER). From the simulation results, it is seen that double binary turbo coding offers considerable coding gain with reasonable encoding complexity. It is also demonstrated that the performance of the UWB system can be substantially improved by increasing the number of iterations.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 하계종합학술대회 논문집(1)
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• pp.213-216
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• 2000

In this paper, performance of a CDMA-based packet transmission system is analyzed and simulated in a wireless infrared channel. The indoor wireless infrared channel is modeled as a non-directed diffuse link. The pulse position modulation (PPM) is used as a modulation scheme. From the simulation results, it is shown that the RS coding is very effective in improving the packet-delay characteristics of the CDMA-based packet transmission system. The performance improvement is more significant especially when the infrared channel is in a worse condition.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 V
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• pp.2581-2584
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• 2003

In this paper, we propose a self-localization algorithm using vertical line segments. Indoor environment is consist of horizontal and vertical line features such as doors, furniture, and so on. From the input image, vertical line edges are detected by an edge operator, Then, line segments are obtained by projecting edge image vertically and detecting local maximum from the projected histogram. From the relation of horizontal position of line segments and the location of the robot, nonlinear equations are come out Localization is done by solving the equations by using Newton's method. Experimental results show that the proposed algorithm using one camera is simple and applicable to indoor environment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.33.3-33
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• 2002

Pseudolite (PL) is a kind of signal generator, which transmits GPS-like signal at the ground. However our own made PL is different from a GPS satellite in clock accuracy. GPS satellites are synchronized by use of high precision atomic clocks. But because our PLs use low cost temperature controlled oscillators (TCXO), so it is very difficult to synchronize them. Hence, we should install reference station and use Differential GPS (DGPS) algorithm to calculate user position. By use of this method, we already developed indoor navigation system a few years ago. We named it as 'Asynchronous Pseudolite Indoor Navigation System'. However, this system requires that sampling times of all the receivers...

• 제어로봇시스템학회논문지
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• 제11권12호
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• pp.996-1001
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• 2005

Recently, with the development of service robots and with the new concept of ubiquitous world, the position estimation of mobile objects has been raised to an important problem. As pre-liminary research results, some of the localization schemes are introduced, which provide the relative location of the moving objects subjected to accumulated errors. To implement a real time localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed in this paper. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter: 1. The RFID receiver gets the synchronization signal from the mobile robot and 2. The ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from. Three beacons and the absolute position information of the beacons themselves. In some case, the mobile robot can get the ultrasonic signals from only one or two beacons, because of the obstacles located along the moving path. Therefore, in this paper, as one of our dedicated contribution, the position estimation scheme with less than three sensors has been developed. Also, the extended Kalman filter algorithm is applied for the improvement of position estimation accuracy of the mobile robot.

• 한국통신학회논문지
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• 제40권1호
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• pp.226-232
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• 2015

스마트기기 시대가 도래함에 따라, 최근 스마폰과 관련한 많은 응용 서비스들이 개발되고 있으며, LBS(Location Based Service) 기술은 위치 기반 서비스를 제공하기 위해 가장 중요한 기술 중의 하나로 인식되고 있다. 일반적으로 스마트폰의 위치인식은 GPS(Global Positioning System), G-Sensor와 같은 위치 인식 시스템 및 센서를 이용하여 위치 정보를 획득하게 된다. 그러나 실내에서는 위성으로부터의 GPS 신호를 수신하기가 거의 불가능하므로 실내 환경을 위한 새로운 LBS 기술이 필요하다. 본 논문에서는 이러한 문제를 해결하기 위해 LED 조명과 스마트폰의 카메라 센서를 이용한 위치정보 송수신기를 제안한다. 제안 위치 인식 시스템의 실용성 검증을 위해 실험실 환경에서의 실험을 통해 그 가능성을 입증하였다.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2015년도 춘계학술대회
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• pp.298-300
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• 2015

Beacon은 주로 선박이나 항공기 등의 위치 확인이나 운행 상의 안전을 돕기 위해 사용하는 신호장치이다. 최근 IT 분야에서는 BLE(Bluetooth Low Energy) 기반 Beacon을 이용함으로써 적은 에너지로도 수개월 이상 동작이 가능해졌으며 BLE Beacon을 이용한 위치기반의 서비스 및 기술이 연구되고 있다. 하지만 Beacon 단독으로, 위치 측위 시 오차율이 높아 정확한 위치를 측정할 수 없는 문제가 있다. 본 논문에서는 스마트폰 기반의 WiFi와 Beacon을 결합하여 실내 위치 측위 알고리즘을 사용하고 위치 측위 값의 오차율을 줄일 수 있도록 제안한다.