방위각 CPA를 이용한 수중표적의 CPA 거리와 속도의 비 추정

김정훈,윤경식,서익수,이균경 대한전자공학회 2016 전자공학회논문지 Vol.53 No.6

In this paper, we present a method for estimating the ratio of CPA distance to velocity of underwater target using target bearing information in CPA situation. This ratio can be estimated by previous research which is Envelope CPA using proximity sensor but it has low performance if the target is close to receiver sensor or bigger interference caused by multi-path effects. Therefore we propose a Bearing CPA technique using a target bearing information as a way to overcome. 본 논문에서는 등속 직선 기동하는 수중표적의 CPA 상황에서의 방위각 정보를 이용하여 표적의 CPA 거리와 속도의 비를 추정하는 기법을 제시한다. 선행 연구를 통해 근접센서를 이용한 포락선 CPA 기법으로 이 값을 추정하는 방안이 제시되었으나, 이는 표적과 수신 센서의 거리가 가깝거나 다중경로로 인한 간섭효과가 커질 경우 성능이 떨어지는 문제를 가진다. 이에 이를 극복하는 방안으로 표적 방위각 정보를 이용하는 방위각 CPA 기법을 제시한다.

방위각 CPA를 이용한 수중표적의 CPA 거리와 속도의 비 추정

김정훈(JungHoon Kim),윤경식(KyungSik Yoon),서익수(IkSu Seo),이균경(KyunKyung Lee) 대한전자공학회 2016 전자공학회논문지 Vol.53 No.6

본 논문에서는 등속 직선 기동하는 수중표적의 CPA 상황에서의 방위각 정보를 이용하여 표적의 CPA 거리와 속도의 비를 추정하는 기법을 제시한다. 선행 연구를 통해 근접센서를 이용한 포락선 CPA 기법으로 이 값을 추정하는 방안이 제시되었으나, 이는 표적과 수신 센서의 거리가 가깝거나 다중경로로 인한 간섭효과가 커질 경우 성능이 떨어지는 문제를 가진다. 이에 이를 극복하는 방안으로 표적 방위각 정보를 이용하는 방위각 CPA 기법을 제시한다. In this paper, we present a method for estimating the ratio of CPA distance to velocity of underwater target using target bearing information in CPA situation. This ratio can be estimated by previous research which is Envelope CPA using proximity sensor but it has low performance if the target is close to receiver sensor or bigger interference caused by multi-path effects. Therefore we propose a Bearing CPA technique using a target bearing information as a way to overcome.

Quantitative calculation method of the collision risk for collision avoidance in ship navigation using the CPA and ship domain

Ha Jisang,Roh Myung-Il,Lee Hye-Won 한국CDE학회 2021 Journal of computational design and engineering Vol.8 No.3

Collision risk (CR) assessment is necessary for avoiding collisions with other ships. The CR can be used to make decisions on collision avoidance. In this respect, the ship domain and the closest point of approach (CPA)-based methods have been proposed to assess the CRs. However, the ship domain method is limited in terms of the quantitative calculation of the CR, whereas the CPA-based method does not guarantee reliable collision avoidance. In this study, an improved method is proposed for the quantitative calculation of the CR in ship navigation that combines the advantages of two existing methods. The proposed method calculates the CR using the CPA and defines the ship domain as a critical value of the CR to ensure reliable collision avoidance. In this process, the CR value of another ship on the boundary of the ship domain is calculated as 1, which implies that collision occurs, and the coefficients for the CR calculation are adjusted considering the distance from the ship domain. Furthermore, the manoeuvring performance and the heading angle of the ships are considered in the calculation of the CR. To evaluate the proposed method, it is applied to various examples, including a comparison with previous methods. The results show that the proposed method can be used to obtain a quantitative CR for collision avoidance.

도플러 천이/도달지연시간차 하이브리드 기법을 이용한 수중 고속 기동 표적의 속도 및 거리 추정 기법

한민수 한국마린엔지니어링학회 2017 한국마린엔지니어링학회지 Vol.41 No.9

본 논문은 수중에서 고속 기동하는 표적의 속도 및 거리를 계산하기 위해 방사되는 소음을 이용하는 도플러 천이및 도달지연시간 하이브리드 기법을 제안한다. 이 기법들은 표적이 선배열 센서로 부터 최대근접지점을 지나는 순간에이용되며, 이때 표적에서 방사되는 보기류 또는 엔진 등의 소음은 선배열 센서 간격에 따라 도달지연시간차가 다르게되고 주파수 정보는 휘어지게 나타난다. 이를 통해 추정되는 표적 정보는 최대근접지점에서의 속도, 거리, 방위각이고제안된 두 기법을 혼합함으로써 거리 및 속도 추정 정확도를 향상시킬 수 있다. 제안하는 기법의 성능 검증을 위해 6번의해상실험을 수행하였고 표적 관성항법장치 데이터와 비교한 결과 속도는 0.78 노트, 거리는 11.61 m 오차를 나타내었다. In this paper, a Doppler shift and TDoA method is proposed for estimating the velocity and distance of a fast-moving underwater target by using noise radiated from the target. The time of received target noise varies with sensor spacing and the frequency information of the target’s auxiliary machine or engine appears like the results of seam carving when the target passes through the CPA(Closest Point of Approach) from the line array sensor. We estimate the velocity, distance and bearing at the CPA using target’s noise and we improve the localization accuracy by combining proposed methods. We verified the performance of the proposed method through 6 sea trials, results of comparative analysis with INS(Inertial Navigation System) data showed that the velocity and distance errors were 0.78knots and 11.61m respectively.

Collision Avoidance based on CPA algorithm using Relative Distance and Azimuth of Radar for Unmanned Aerial Vehicles

Hyeji Kim,Cheonman Park,Seongbong Lee,Dongjin Lee 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10

In this paper, we propose an obstacle states estimation algorithm based on radar and a collision avoidance algorithm based on closest point of approach(CPA) for unmanned aerial vehicles(UAVs), in order to avoid collision with the obstacle that do not provide information. We estimated position of detected objects using radar and compared current position and previous position for matching objects and removing outliers. Among the detected objects, the obstacle was selected the object with the highest risk of collision. The CPA was calculated using estimated states of the UAV and the obstacle. Based on the CPA, we detected collision and generated the velocity command for collision avoidance. The performance of proposed algorithm of states estimation of obstacle, collision detection and avoidance was verified through the flight tests.

Obstacle Detection and Collision Estimation using Kalman Filter and CPA algorithm for UAV Autonomous Landing

Hyeji Kim,Cheonman Park,Dongjin Lee 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10

Risk Degree of Ship-bridge Collision based on Theory of Ship Collision Avoidance

Yihua Liu,Yingjie Xiao 보안공학연구지원센터 2014 International Journal of Control and Automation Vol.7 No.11

Bridges have played an integral role in the development of economy and progress of human society, which facilitate transportation and promote regional economic development. However, a large number of bridges for sea-crossing or river-crossing have impeded the water transportation to varying degrees, and then one part of bridges are confronted with higher risk of ship-bridge collision. There are many ship-bridge collision accidents in the world in recent decades, which caused huge casualties and property losses. This paper proposes the model of risk degree for ship-bridge collision based on the theory of ship collision avoidance, as one parts of the system of active warning of ship-bridge collision avoidance, which can show the index of dynamic risk degree for vessels passing through bridge area. The index of ship-bridge collision can make more efficiency for the system of active warning of ship-bridge collision avoidance, which can ensure safety for vessels and bridges. The verification results show the application possibility of the model in practice.

A Development of 3-D Resolution Algorithm for Aircraft Collision Avoidance

Youngrae Kim,Sangchul Lee,Keumjin Lee,Ja-Young Kang 한국항공우주학회 2013 International Journal of Aeronautical and Space Sc Vol.14 No.3

Traffic Collision Avoidance System (TCAS) is designed to enhance safety in aircraft operations, by reducing the incidences of mid-air collision between aircraft. The current version of TCAS provides only vertical resolution advisory to the pilots, if an aircraft’s collision with another is predicted to be imminent, while efforts to include horizontal resolution advisory have been made, as well. This paper introduces a collision resolution algorithm, which includes both vertical and horizontal avoidance maneuvers of aircraft. Also, the paper compares between the performance of the proposed algorithm and that of algorithms with only vertical or horizontal avoidance maneuver of aircraft.

A Development of 3-D Resolution Algorithm for Aircraft Collision Avoidance

김영래,이상철,이금진,강자영 한국항공우주학회 2013 International Journal of Aeronautical and Space Sc Vol.14 No.3

Traffic Collision Avoidance System (TCAS) is designed to enhance safety in aircraft operations, by reducing the incidences of mid-air collision between aircraft. The current version of TCAS provides only vertical resolution advisory to the pilots, if an aircraft’s collision with another is predicted to be imminent, while efforts to include horizontal resolution advisory have been made, as well. This paper introduces a collision resolution algorithm, which includes both vertical and horizontal avoidance maneuvers of aircraft. Also, the paper compares between the performance of the proposed algorithm and that of algorithms with only vertical or horizontal avoidance maneuver of aircraft.

A Development of 3-D Resolution Algorithm for Aircraft Collision Avoidance

Kim, Youngrae,Lee, Sangchul,Lee, Keumjin,Kang, Ja-Young The Korean Society for Aeronautical and Space Scie 2013 International Journal of Aeronautical and Space Sc Vol.14 No.3

Traffic Collision Avoidance System (TCAS) is designed to enhance safety in aircraft operations, by reducing the incidences of mid-air collision between aircraft. The current version of TCAS provides only vertical resolution advisory to the pilots, if an aircraft's collision with another is predicted to be imminent, while efforts to include horizontal resolution advisory have been made, as well. This paper introduces a collision resolution algorithm, which includes both vertical and horizontal avoidance maneuvers of aircraft. Also, the paper compares between the performance of the proposed algorithm and that of algorithms with only vertical or horizontal avoidance maneuver of aircraft.