• Title/Summary/Keyword: 칼만필터

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Study on the Attitude Determination of KOREASAT3 using Extended Kalman Filter about Gyro Anomaly Case (자이로 이상상태가 있는 경우의 확장칼만필터를 이용한 무궁화위성 3호의 자세결정 연구)

  • Park, Young-Woong;Park, Bong-Kyu;Bang, Hyo-Choong
    • Proceedings of the KIEE Conference
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    • 2002.07d
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    • pp.2258-2261
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    • 2002
  • 본 논문에서는 정지궤도 통신위성인 무궁화위성 3호 버스시스템을 모델로 하여 확장칼만필터를 이용한 자세결정 알고리즘을 개발하였다. 그리고 자이로에 바이어스가 있는 경우 및 자이로가 고장이 난 경우에 대한 결과를 시뮬레이션을 통해 필터의 성능을 검증하였다. 특히, 추정된 상태변수를 이용한 2Hz 자세제어를 동시에 수행하였다.

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Robust Beamforming Method by Linear Array Shape Estimation using Kanlman Filter (칼만필터 선배열 형상 추정에 의한 견실한 빔형성 기법 연구)

  • 한정우
    • Proceedings of the Acoustical Society of Korea Conference
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    • 1996.06a
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    • pp.18-21
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    • 1996
  • 예인형 선배열 소나에서 기존의 선배열 빔형성 기법을 적용하면 예인함 기동시 선배열 형상 변형에 의해 심각한 성능 저하 현상이 나타난다. 이러한 문제 해결을 위해 센서배열 변형을 고려한 견실한 빔형성 기법은 선배열 형상 추정을 위해 칼만필터를 이용한 형상 추정기법을 이용하고, 변형보상 빔형성을 위해 선배열 세그먼트 기울기 추정값을 이용하는 변형보상 빔형성 알고리즘을 제안하였다. 제안된 기법을 기존의 빔형성 기법을 적용하여 시뮬레이션에 의해 제안된 기법의 보상성능을 입증 하였다.

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A Study on Welding Path Finding For The Large Structure Using Kalman Filter (칼만필터를 이용한 초대형 용접구조물의 용접선 추적에 관한 연구)

  • 주해호;이화조;김석환
    • Journal of the Korean Society for Precision Engineering
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    • v.17 no.1
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    • pp.45-51
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    • 2000
  • In this Paper a basic technique of gantry robot control system has been developed to weld the curved part of a large structure. A welding robot is designed to rotate torch and make the torch angle normal to the welding surface. The Kalman filter is applied to obtain the smooth welding path signal from the noised Sensing data. A welding path finding algorithm has been developed in Turbo-C language.

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Real-time Target Tracking System by Extended Kalman Filter (확장칼만필터를 이용한 실시간 표적추적)

  • 임양남;이성철
    • Journal of the Korean Society for Precision Engineering
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    • v.15 no.7
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    • pp.175-181
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    • 1998
  • This paper describes realtime visual tracking system of moving object for three dimensional target using EKF(Extended Kalman Filter). We present a new realtime visual tracking using EKF algorithm and image prediction algorithm. We demonstrate the performance of these tracking algorithm through real experiment. The experimental results show the effectiveness of the EKF algorithm and image prediction algorithm for realtime tracking and estimated state value of filter, predicting the position of moving object to minimize an image processing area, and by reducing the effect by quantization noise of image.

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A Study on MIMO Acoustic Echo Cancellation Based on Kalman filtering (칼만필터 기반의 다채널 입출력 음향학적 반향제거 방법에 관한 연구)

  • Park, Jihwan;Chang, Joon-Hyuk
    • Proceedings of the Korea Information Processing Society Conference
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    • 2018.05a
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    • pp.460-461
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    • 2018
  • 본 논문에서는 기존의 단일입출력 환경에서의 칼만필터 기반 반향제거방법을 다중입출력 구조로 확장하는 방법을 제안한다. 다중입출력 구조의 반향제거방법은 단일입출력방식보다 우수한 반향제거 성능을 보이면서도 더욱 낮은 음성왜곡도를 보였다.

Maneuvering-Target Tracking Using the Federated Kalman Filter with Multiple Sensors (연합형 칼만필터를 이용한 다중감지기 환경에서의 기동표적 추적)

  • 황보승욱;홍금식;최성린
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1995.10a
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    • pp.598-601
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    • 1995
  • This paper proposes a federated Kalman filter approach which utilizes information from multiple sensors and variable estimation model. Compared with the decentralized Kalman filter, the algorithm proposed in this paper demonstrates much better tracking performance in both maneuvering and constant velocity movement of the target.

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Kalman filter modeling for the estimation of tropospheric and ionospheric delays from the GPS network (망기반 대류 및 전리층 지연 추출을 위한 칼만필터 모델링)

  • Hong, Chang-Ki
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.30 no.6_1
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    • pp.575-581
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    • 2012
  • In general, various modeling and estimation techniques have been proposed to extract the tropospheric and ionospheric delays from the GPS CORS. In this study, Kalman filter approach is adopted to estimate the tropospheric and ionospheric delays and the proper modeling for the state vector and the variance-covariance matrix for the process noises are performed. The coordinates of reference stations and the zenith wet delays are estimated with the assumption of random walk stochastic process. Also, the first-order Gauss-Markov stochastic process is applied to compute the ionospheric effects. For the evaluation of the proposed modeling technique, Kalman filter algorithm is implemented and the numerical test is performed with the CORS data. The results show that the atmospheric effects can be estimated successfully and, as a consequence, can be used for the generation of VRS data.

Stochastic Continuous Storage Function Model with Ensemble Kalman Filtering (II) : Application and Verification (앙상블 칼만필터를 연계한 추계학적 연속형 저류함수모형 (II) : - 적용 및 검증 -)

  • Lee, Byong-Ju;Bae, Deg-Hyo;Shamir, Eylon
    • Journal of Korea Water Resources Association
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    • v.42 no.11
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    • pp.963-972
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    • 2009
  • The objective of this study is to evaluate an application of stochastic continuous storage function model with ensemble Kalman filter technique. The case study is performed at the upstream basin of Jibo streamflow gauge including Andong and Imha dam. Test period is for the rainy season during 2006 and 2007. Long term runoff analysis is feasible in the case of using deterministic model. Ensemble members for input data and parameters are generated using Monte Carlo simulation for the purpose of applying ensemble Kalman filter technique. The cumulative absolute errors of stochastic model to the deterministic one are improved for the amount of 17.5 %, 18.3 % and more than 40.0 % for Andong dam, Imha dam and Jibo station, respectively. The results indicate that the stochastic model improves the accuracy of the simulated discharge considerably.

bat tracking in baseball broadcasting using CAMshift and Kalman filter (CAMshift와 칼만필터를 이용한 야구 중계화면에서의 배트 추적)

  • Jo, Kyeong-min;Cha, Eui-young
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • 2015.10a
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    • pp.695-698
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    • 2015
  • In this paper proposes bat tracking in baseball broadcasting using CAMshift and Kalman filter. The bat is changing fast during the swing, the shape also continues to rotate. For this reason, to apply the CAMshift to self adjust the size of the search window in order to use the color information to the invariant of the bat. Because it uses the color information if there are objects of similar color to the background because of the interruption on the track narrows the search range in range of motion detection by using the MHI(Motion History Image). By applying a Kalman filter, limit changing on the size of the search window, and it can be obtained higher track accuracy. But, this proposed method was limited color change by light.

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