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보행용 관성 항법 시스템을 위한 HMMS를 통한 걸음 단계 구분
박상경(Sang-Kyeong Park),서영수(Young-soo Suh) 대한전기학회 2009 전기학회논문지 Vol.58 No.5
An inertial navigation system for pedestrian position tracking is proposed, where the position is computed using inertial sensors mounted on shoes. Inertial navigation system(INS) errors increase with time due to inertial sensor errors, and therefore it needs to reset errors frequently. During normal walking, there is an almost periodic zero velocity instance when a foot touches the floor. Using this fact, estimation errors are reduced and this method is called the zero velocity updating algorithm. When implementing this zero velocity updating algorithm, it is important to know when is the zero velocity interval. The gait states are modeled as a Markov process and each state is estimated using the hidden Markov model smoother. With this gait estimation, the zero or nearly zero velocity interval is more accurately estimated, which helps to reduce the position estimation error.
박상경(Sang Kyeong Park),서영수(Young Soo Suh) 대한전기학회 2010 전기학회논문지 Vol.59 No.11
Is this paper, a pedestrian inertial navigation system with vision is proposed. The navigation system using inertial sensors has problems that it is difficult to determine the initial position and the position error increases over time. To solve these problems, a vision system in addition to an inertial navigation system is used, where a camera is attached to a pedestrian. Landmarks are installed to known positions so that the position and orientation of a camera can be computed once a camera views the landmark. Using this position information, estimation errors in the inertial navigation system is compensated.
서영수(Young Soo Suh),박상경(Sang Kyeong Park),노영식(Young Shick Ro),강희준(Hee Jun Kang) 대한전기학회 2009 정보 및 제어 심포지엄 논문집 Vol.2009 No.10
This paper is concerned with orientation estimation using inertial and magnetic sensors. A quaternionbased indirect Kalman filter structure is used. Magnetic sensor output is used only for yaw angle estimation using two step measurement updates. External acceleration is estimated from the residual of the filter and compensated by increasing the measurement noise covariance. Using the direction information of external information, the proposed method prevents unnecessarily increasing the measurement noise covariance corresponding to the accelerometer output, which is not affected by external acceleration. Through numerical examples, the proposed method is verified.
권효근(Hyo Geun Kwon),박상경(Sang Kyeong Park),서영수(Young Soo Suh) 대한전기학회 2006 대한전기학회 학술대회 논문집 Vol.2006 No.7
본 논문에서는 비전과 관성센서를 이용하여 2바퀴를 가지는 이동장치를 개발하였고, 이에 대한 역학 모델을 제안한다. 본 이동장치에서 바디부분은 바퀴의 축에 직접 연결되어 있으므로 물리적인 결속이 필요한 기존의 센서로는 진자의 기울어짐을 알 수 없다. 따라서 바다의 기울어짐을 측정하기 위하여 관성센서를 사용하였다. 보다 안정된 주행을 위해 바닥의 기울어짐을 측정하기 위해 비전을 이용하였다.
초음파센서와 관성센서를 이용한 발의 움직임 추적 시스템
부장훈(Jang Hun Boo),박상경(Sang Kyeong Park),서영수(Young Soo Suh) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.11
This paper presents a foot movement tracking system using ultrasonic sensors and inertial sensors, where the position and velocity of foot are computed using inertial sensors and ultrasonic sensors mounted on a shoe. A foot movement can be estimated using an inertial navigation algorithm only; however, the error tends to increase due to biases of gyroscopes and accelerometers. To reduce the error, a localization system using ultrasonic sensors is additionally used. In the localization system using ultrasonic sensors, the position is continuously calculated in the absolute coordinate. An indirect Kalman filter is used to combine inertial sensors and ultrasonic sensors. Through experiments, it is shown that the proposed system can track a foot movement.