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차량용 2D 라이다를 이용한 특징정보 기반 확장표적추적 기법
함다혜(Dahye Ham),조형찬(Hyung-Chan Cho),윤유정(Yoo-Jung Yoon),나원상(Won-Sang Ra),한슬기(Seul-Ki Han) 대한전기학회 2021 전기학회논문지 Vol.70 No.1
This paper deals with the design problem of an extended target tracking filter using automotive 2D LIDAR. As a practical way to reduce the dimensionality of the LIDAR point cloud data and to extract an important target feature from it, the Hough transform is applied and the corresponding measurement equation is modeled. It is well-known that the pattern of the LIDAR point cloud varies with the relative geometry due to occlusion, which may leads the severe performance degradation in target tracking. To cope with this problem, a multiple model filter is designed by considering the measurement acquisition hypotheses on the target feature. Through the experiments in real-driving condition, the superior performance of the proposed filter over the existing method is demonstrated.
함정 근접방어체계의 요격성능 향상을 위한 고기동 표적의 장시간 궤적 예측기법
함다혜(Dahye Ham),조형찬(Hyung-Chan Cho),나원상(Won-Sang Ra),안지훈(Ji-Hoon An),김상현(Sang-Hyun Kim),박준현(June-Hyune Prak) 대한전기학회 2021 전기학회논문지 Vol.70 No.2
This paper proposes a precise long-term trajectory prediction algorithm for the interception of highly maneuvering targets by a naval close-in-weapon system (CIWS). Ensuring satisfactory kill-probability, a target’s flight dynamics is described as the nonlinear differential equation with two slowly varying parameters. Our system model also contains the unknown control gains representing the general form of guidance laws, which can be modeled as random walk processes to cope with the versatile target maneuver in the terminal guidance phase. As a result, the long-term trajectory predictor is easily designed by applying the unscented Kalman filter for the probabilistic nonlinear state-space model. Through the simulations for typical ASM target engagement scenarios, it is demonstrated that the proposed filter is beneficial to improve the accuracy of the impact point calculation, which is necessary for the fire control algorithm of a CIWS.
전투기 탑재 AESA 레이다를 위한 예측시선좌표계 기반 표적 추적필터 설계
정보영(Bo-Young Jung),함다혜(Dahye Ham),서의석(Ui-Suk Suh),나원상(Won-Sang Ra),윤보람(Boram Yoon),김동환(Dong-Hwan Kim) 대한전기학회 2020 전기학회논문지 Vol.69 No.6
This paper deals with the problem of tracking a target using an airborne AESA radar. Unlike the ground-based tracking systems, the angular motion of a platform makes the noise statistics of the converted measurements (CMs) complicated, hence the conventional approaches produce the biased target state estimates. To settle this problem, the predicted line-of-sight Cartesian coordinate system (PLCCS) is introduced. Provided that the a priori state estimation error is small enough, the statistical properties of the CMs in PLCCS can be accurately approximated only using the 1st and 2nd moments of the radar measurement noises. In addition, the resulting debiasing term leads to the satisfactory performance of the proposed filter. Enjoying the diagonal form of the noise covariance matrix, we can decouple the tracking filter into each axis for real-time implementation. Through simulations, the enhanced performance of the suggested method over the previous schemes is demonstrated.