• Title/Summary/Keyword: measurement fusion

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Tracking of ARPA Radar Signals Based on UK-PDAF and Fusion with AIS Data

  • Chan Woo Han;Sung Wook Lee;Eun Seok Jin
    • Journal of Ocean Engineering and Technology
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    • v.37 no.1
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    • pp.38-48
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    • 2023
  • To maintain the existing systems of ships and introduce autonomous operation technology, it is necessary to improve situational awareness through the sensor fusion of the automatic identification system (AIS) and automatic radar plotting aid (ARPA), which are installed sensors. This study proposes an algorithm for determining whether AIS and ARPA signals are sent to the same ship in real time. To minimize the number of errors caused by the time series and abnormal phenomena of heterogeneous signals, a tracking method based on the combination of the unscented Kalman filter and probabilistic data association filter is performed on ARPA radar signals, and a position prediction method is applied to AIS signals. Especially, the proposed algorithm determines whether the signal is for the same vessel by comparing motion-related components among data of heterogeneous signals to which the corresponding method is applied. Finally, a measurement test is conducted on a training ship. In this process, the proposed algorithm is validated using the AIS and ARPA signal data received by the voyage data recorder for the same ship. In addition, the proposed algorithm is verified by comparing the test results with those obtained from raw data. Therefore, it is recommended to use a sensor fusion algorithm that considers the characteristics of sensors to improve the situational awareness accuracy of existing ship systems.

Experimental Research on Radar and ESM Measurement Fusion Technique Using Probabilistic Data Association for Cooperative Target Tracking (협동 표적 추적을 위한 확률적 데이터 연관 기반 레이더 및 ESM 센서 측정치 융합 기법의 실험적 연구)

  • Lee, Sae-Woom;Kim, Eun-Chan;Jung, Hyo-Young;Kim, Gi-Sung;Kim, Ki-Seon
    • The Journal of Korean Institute of Communications and Information Sciences
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    • v.37 no.5C
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    • pp.355-364
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    • 2012
  • Target processing mechanisms are necessary to collect target information, real-time data fusion, and tactical environment recognition for cooperative engagement ability. Among these mechanisms, the target tracking starts from predicting state of speed, acceleration, and location by using sensors' measurements. However, it can be a problem to give the reliability because the measurements have a certain uncertainty. Thus, a technique which uses multiple sensors is needed to detect the target and increase the reliability. Also, data fusion technique is necessary to process the data which is provided from heterogeneous sensors for target tracking. In this paper, a target tracking algorithm is proposed based on probabilistic data association(PDA) by fusing radar and ESM sensor measurements. The radar sensor's azimuth and range measurements and the ESM sensor's bearing-only measurement are associated by the measurement fusion method. After gating associated measurements, state estimation of the target is performed by PDA filter. The simulation results show that the proposed algorithm provides improved estimation under linear and circular target motions.

Ultrashort Pulse Reflectometry for the Measurement of Electron Density Profiles (전자 밀도 분포 측정을 위한 극단 펄스 레플렉토메터리)

  • 노영수
    • The Transactions of the Korean Institute of Electrical Engineers C
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    • v.53 no.1
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    • pp.8-14
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    • 2004
  • An O-mode Ultrashort Pulse Reflectometry (USPR) system has been designed and developed for the measurement of electron density profiles on the Sustained Spheromak Physics Experiment (SSPX) spheromak. In the original design of SSPX, peak densities were envisioned to be in the range of 0.5-3${\times}$10$^{14}$ cm$^{-3}$ . The total duration of formation and sustained discharges is typically ∼2 msec. Moreover, diagnostic access on SSPX is severely restricted. Such high density and short duration plasmas coupled with stringent diagnostic access are quite challenging for conventional reflectometer systems. In USPR, the SSPX diagnostic requirements have been successfully satisfied by employing up-converting mixers and monostatic horn/waveguide configuration. As a result, the USPR system has proven its applicability for the density measurement of a future fusion device. In the density profile measurements, the USPR system is capable of routinely generating density profiles with a temporal resolution of 57 $\mu$s. This paper presents details regarding the USPR fundamental principles, associated subsystems and laboratory tests as well as the experimental results obtained on SSPX

Development of Optical Signal Transmission for the KSTAR Project Pertaining to Instrumentation and Control of the Neutral Beam Test Stand at KAERI

  • Jung, Ki-Sok;Oh, Byung-Hoon
    • KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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    • v.5B no.3
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    • pp.289-295
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    • 2005
  • Instrumentation and Control (I&C) of the Neutral Beam Test Stand (NB- TS) Facility at the Korea Atomic Energy Research Institute (KAERI) for the Korea Superconducting Tokamak Advanced Research (KSTAR) project has been underway since the start of the project to answer the diverse requests arising from the various facets of the development and construction phases of the project. Optical signal transmission constitutes a significant portion of I&C works and has been performed for the entirety of the project. During the NB- TS construction and related experiments, significant achievements to a more accurate as well as more refined optical signal transmissions have been made. Examples of those I&C works that utilized the optical signal transmission are the Langmuir probe signal transmission, gradient grid current signal transmission, gas flow control and signal transmission, ion source temperature measurement, beam line component temperature monitoring, and coolant flow signal transmission, etc. These optical signal transition provisions are now performing part of the indispensable functions for the proper operation of the NB- TS facility. Attained experience and expertise are expected to be well applied to the upcoming main neutral beam injection (NBI) system construction for the KSTAR project.

Scheme for Measuring Refrigeration Capacity of Cryopump Refrigerator (크라이오 펌프 냉동기 냉각용량 측정방안)

  • In, S.R.;Cho, H.S.;Jeong, S.H.
    • Journal of the Korean Vacuum Society
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    • v.20 no.4
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    • pp.243-251
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    • 2011
  • An apparatus for measuring the refrigeration capacity of cryopump refrigerators including the pulse tube type being developed domestically and the GM type has been designed, manufactured, and tested. The refrigeration capacity of a commercial refrigerator was evaluated for confirming the measurement procedure and the operation performance of the apparatus. The measured 2-D refrigeration capacity chart showed the intrinsic characteristics of the refrigerator model used in the experiment. In this paper, design specifications and test results of the refrigeration capacity measurement system is reported and discussed.

A hybrid navigation system of underwater vehicles using fuzzy inferrence algorithm (퍼지추론을 이용한 무인잠수정의 하이브리드 항법 시스템)

  • 이판묵;이종무;정성욱
    • Journal of Ocean Engineering and Technology
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    • v.11 no.3
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    • pp.170-179
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    • 1997
  • This paper presents a hybrid navigation system for AUV to locate its position precisely in rough sea. The tracking system is composed of various sensors such as an inclinometer, a tri-axis magnetometer, a flow meter, and a super short baseline(SSBL) acoustic position tracking system. Due to the inaccuracy of the attitude sensors, the heading sensor and the flowmeter, the predicted position slowly drifts and the estimation error of position becomes larger. On the other hand, the measured position is liable to change abruptly due to the corrupted data of the SSBL system in the case of low signal to noise ratio or large ship motions. By introducing a sensor fusion technique with the position data of the SSBL system and those of the attitude heading flowmeter reference system (AHFRS), the hybrid navigation system updates the three-dimensional position robustly. A Kalman filter algorithm is derived on the basis of the error models for the flowmeter dynamics with the use of the external measurement from the SSBL. A failure detection algorithm decides the confidence degree of external measurement signals by using a fuzzy inference. Simulation is included to demonstrate the validity of the hybrid navigation system.

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Performance Evaluation of a Compressed-State Constraint Kalman Filter for a Visual/Inertial/GNSS Navigation System

  • Yu Dam Lee;Taek Geun Lee;Hyung Keun Lee
    • Journal of Positioning, Navigation, and Timing
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    • v.12 no.2
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    • pp.129-140
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    • 2023
  • Autonomous driving systems are likely to be operated in various complex environments. However, the well-known integrated Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS), which is currently the major source for absolute position information, still has difficulties in accurate positioning in harsh signal environments such as urban canyons. To overcome these difficulties, integrated Visual/Inertial/GNSS (VIG) navigation systems have been extensively studied in various areas. Recently, a Compressed-State Constraint Kalman Filter (CSCKF)-based VIG navigation system (CSCKF-VIG) using a monocular camera, an Inertial Measurement Unit (IMU), and GNSS receivers has been studied with the aim of providing robust and accurate position information in urban areas. For this new filter-based navigation system, on the basis of time-propagation measurement fusion theory, unnecessary camera states are not required in the system state. This paper presents a performance evaluation of the CSCKF-VIG system compared to other conventional navigation systems. First, the CSCKF-VIG is introduced in detail compared to the well-known Multi-State Constraint Kalman Filter (MSCKF). The CSCKF-VIG system is then evaluated by a field experiment in different GNSS availability situations. The results show that accuracy is improved in the GNSS-degraded environment compared to that of the conventional systems.

Indirect Kalman Filter based Sensor Fusion for Error Compensation of Low-Cost Inertial Sensors and Its Application to Attitude and Position Determination of Small Flying robot (저가 관성센서의 오차보상을 위한 간접형 칼만필터 기반 센서융합과 소형 비행로봇의 자세 및 위치결정)

  • Park, Mun-Soo;Hong, Suk-Kyo
    • Journal of Institute of Control, Robotics and Systems
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    • v.13 no.7
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    • pp.637-648
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    • 2007
  • This paper presents a sensor fusion method based on indirect Kalman filter(IKF) for error compensation of low-cost inertial sensors and its application to the determination of attitude and position of small flying robots. First, the analysis of the measurement error characteristics to zero input is performed, focusing on the bias due to the temperature variation, to derive a simple nonlinear bias model of low-cost inertial sensors. Moreover, from the experimental results that the coefficients of this bias model possess non-deterministic (stochastic) uncertainties, the bias of low-cost inertial sensors is characterized as consisting of both deterministic and stochastic bias terms. Then, IKF is derived to improve long term stability dominated by the stochastic bias error, fusing low-cost inertial sensor measurements compensated by the deterministic bias model with non-inertial sensor measurement. In addition, in case of using intermittent non-inertial sensor measurements due to the unreliable data link, the upper and lower bounds of the state estimation error covariance matrix of discrete-time IKF are analyzed by solving stochastic algebraic Riccati equation and it is shown that they are dependant on the throughput of the data link and sampling period. To evaluate the performance of proposed method, experimental results of IKF for the attitude determination of a small flying robot are presented in comparison with that of extended Kaman filter which compensates only deterministic bias error model.