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수동센서를 이용한 효율적인 표적추적을 위한 적응적 자원관리 알고리듬 연구
김우찬(Woo Chan Kim),이해호(Haeho Lee),안명환(Myonghwan Ahn),이범직(Bum Jik Lee),송택렬(Taek Lyul Song) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.7
To enhance tracking efficiency, a target-tracking filter with a resource management algorithm is required. One of the resource management algorithms chooses or evaluates the proper sampling time using cost functions which are related to the target tracking filter. We propose a resource management algorithm for bearing only tracking environments. Since the tracking performance depends on the system observability, the bearing-only tracking is one of challenging target-tracking fields. The proposed algorithm provides the adaptive sampling time using the variation rate of the error covariance matrix from the target-tracking filter. The simulation verifies the efficiency performance of the proposed algorithm.
음원과 수신기 사이에 교차 산란단면적을 이용한 양상태 잔향음 모의
오래근,김선효,손수욱,최지웅,박정수,신창홍,안명환,이범직,Oh, Raegeun,Kim, Sunhyo,Son, Su-Uk,Choi, Jee Woong,Park, Joung-Soo,Shin, Changhong,Ahn, Myonghwan,Lee, Bum Jik 한국음향학회 2017 韓國音響學會誌 Vol.36 No.1
소나 운용에서 잔향음은 수중 표적 탐지의 제한요소이기 때문에 정확한 예측이 중요하다. 최근에는 단상태소나 연구에서 공간적으로 송수신기의 위치가 다른 양상태 소나에 대한 연구로 확장되고 있는 추세이다. 양상태 잔향음을 모의하기 위해서는 양상태 음파전달, 양상태 산란강도 및 산란단면적 등에서 단상태와 다른 복잡한 계산이 요구된다. 전 세계적으로 양상태 잔향음에 대한 연구가 활발하게 진행되고 있지만 잔향음을 예측하는데 중요한 요소인 양상태 산란단면적을 정확하게 계산하는 방법에 대한 연구는 미비하다. 본 논문에서는 거리 독립 환경의 양상태 잔향음모의에서 두 원의 교차되는 면적을 응용하는 새로운 산란단면적 계산 방법을 제안한다. 최종적으로 본 논문의 양상태 산란단면적 계산 방법으로 모의된 잔향음 준위는 기존에 제안되었던 방법들의 예측값과 비교되며 2013년 5월에 수행된 해상 실험의 측정값과 비교를 수행하였다. It is important to predict accurately reverberation level, which is a limiting factor in underwater target detection. Recently, the studies have been expanded from monostatic sonar to bistatic sonar in which source and receivers are separated. To simulate the bistatic reverberation level, the computation processes for propagation, scattering strength, and scattering cross section are different from those in monostatic case and more complex computation processes are required. Although there have been many researches for bistatic reverberation, few studies have assessed the bistatic scattering cross section which is a key factor in simulate reverberation level. In this paper, a new method to estimate the bistatic scattering cross section is suggested, which uses the area of intersection between two circles. Finally, the reverberation levels simulated with the scattering cross section estimated using the method suggested in this paper are compared with those estimated using the methods previously suggested and those measured from an acoustic measurements conducted in May 2013.
수중 자율이동체의 장시간 수중항법 성능 개선을 위한 표준 수력학 모델 기반 속도 추정필터 설계
이윤하(Yunha Lee),나원상(Won-Sang Ra),김광훈(Kwanghoon Kim),안명환(Myonghwan Ahn),이범직(Bum-Jik Lee) 대한전기학회 2016 전기학회논문지 Vol.65 No.11
This paper proposes a novel velocity estimator for long-term underwater navigation of autonomous underwater vehicles(AUVs). Provided that an external position fix is not given, a viable goal in designing a underwater navigation algorithm is to reduce the divergence rate of position error only using the sporadic velocity information obtained from Doppler velocity log(DVL). For such case, the performance of underwater navigation eventually depends on accuracy and reliability of external velocity information. This motivates us to devise a velocity estimator which can drastically enhance the navigation performance even when the DVL measurement is unavailable. Incorporating the Gertler-Hagen hydrodynamics model of an AUV with the measurement models of velocity and depth sensors, the velocity estimator design problem is resolved using the extended Kalman filter. Different from the existing methods in which an AUV simulator is regarded as a virtual sensor, our approach is less sensitive to the model uncertainty often encountered in practice. This is because our velocity filter estimates the simulator errors with sensor aids and furthermore compensates these errors based on the indirect feedforward manner. Through the simulations for typical AUV navigation scenarios, the effectiveness of the proposed scheme is demonstrated.