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Tracking Error Performance of Tracking Filters Based on IMM for Threatening Target to Navel Vessel
Tae Hyun Fang,Jae Weon Choi 대한전기학회 2007 International Journal of Control, Automation, and Vol.5 No.4
Tracking error performance is investigated for the typical maneuvering pattern of the anti-ship missile for tracking filters based on IMM filter in both clear and cluttered environments. Threatening targets to a navel vessel can be categorized into having three kinds of maneuvering patterns such as Waver, Pop-Up, and High-Diver maneuvers, which are classified according to launching platform or acceleration input to be applied. In this paper, the tracking errors for three kinds of maneuvering targets are represented and are investigated through simulation results. Studying estimation errors for each maneuvering target allows us to have insight into the most threatening maneuvering pattern and to construct the test maneuvering scenario for radar system validation.
Fang, Tae Hyun,Kim, Yeon-Gyu,Gong, In-Young,Park, Sekil,Kim, Ah-Young The Society of Naval Architects of Korea 2015 International Journal of Naval Architecture and Oc Vol.7 No.3
In order to develop the challenging process of placing Aids to Navigation (AtoN), we propose performance measures which quantifies the effect of such placement. The best placement of AtoNs is that from which the navigator can best recognize the information provided by an AtoN. The visibility of AtoNs depends mostly on light sources, the weather condition and the position of the navigator. Visual recognition is enabled by achieving adequate contrast between the AtoN light source and background light. Therefore, the performance measures can be formulated through the amount of differences between these two lights. For simplification, this approach is based on the values of the human factor suggested by International Association of Marine Aids to Navigation and Lighthouse Authorities (IALA). Performance measures for AtoN placement can be evaluated through AtoN Simulator, which has been being developed by KIOST/KRISO in Korea and has been launched by Korea National Research Program. Simulations for evaluation are carried out at waterway in Busan port in Korea.
Kalman 필터 ASF 보정을 통한 해양 임무 수행용 GPS/INS/eLoran 복합항법 알고리즘
황태현(Tae Hyun Fang),김영기(Youngki Kim),김동현(Don Kim),이상헌(Sangheon Lee),서기열(Kiyeol Seo),박상현(Sang Hyun Park) 제어로봇시스템학회 2018 제어·로봇·시스템학회 논문지 Vol.24 No.8
This study proposes an integrated GPS, INS, and eLoran algorithm for fulfilling maritime tasks. The architecture of the fusion filter consists of two Kalman filters. One is used to update the navigation solutions of INS with GPS or eLoran, and the other is used to estimate the ASF (additional secondary factor), which is the most important error of eLoran. Although this ASF correction can be replaced by ASF correction services after establishing the eLoran infrastructure, this approach will be useful to estimate the ASF in the fusion filter because of the coverage of ASF correction services. A land test with a vehicle is conducted on the Saemangeum Seawall in Korea to evaluate the proposed fusion filter. The experimental results show that ASF correction can be successfully achieved by the proposed algorithm and that eLoran can back up the GPS in case of a GPS outage. The proposed algorithm should be able to fulfill maritime tasks such as autonomous operations, hydrography, dredging, etc.
레버암 상태 추정을 이용한 IMU 의 자세 결정 알고리즘
황태현(Tae Hyun Fang),오재용(Jaeyong Oh),박세길(Sekil Park),박병재(Byoun-Jae Park),조득재(Deuk-Jae Cho) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.10
In this paper, an enhanced method for attitude determination is proposed for systems using an IMU (Inertial Measurement Unit). In attitude determination with IMU, it is generally assumed that the IMU can be located in the center of gravity on the vehicle. If the IMU is not located in the center of gravity, the accelerometers of the IMU are disturbed from additive accelerations such as centripetal acceleration and tangential acceleration. Additive accelerations are derived from the lever arm which is the distance between the center of gravity and the position of the IMU. The performance of estimation errors can be maintained in system with a non-zero lever arm, if the lever arm is estimated to remove the additive accelerations from the accelerometer’s measurements. In this paper, an estimation using Kalman filter is proposed to include the lever arm in the state variables of the state space equation. For the Kalman filter, the process model and the measurement model for attitude determination are made up by using quaternion. In order to evaluate the proposed algorithm, both of the simulations and the experiments are performed for the simplified scenario of motion.
공개형 3D 그래픽 엔진을 활용한 선박 운항 시뮬레이터용 실시간 3D 가시화 시스템 개발
황태현(Tae Hyun Fang),오재용(Jaeyong Oh),황호진(Ho-Jin Hwang),김병철(Byung Chul Kim),문두환(Duhwan Mun) 한국항해항만학회 2011 한국항해항만학회지 Vol.35 No.3
선박운항자의 인적사고 방지 및 운항 훈련을 위한 방안으로 선박 운항 시뮬레이터가 사용된다. 선박운항 시뮬레이터에서 실시간 3D 가시화 기술은 현실감 있는 직관적인 영상을 제공하여 피교육자에 인지력을 향상시켜 시뮬레이터의 교육 효과를 높이는 중요한 요소이다. 본 연구에서는 공개형 3D 그래픽 엔진을 기반으로 선박 운항 시뮬레이터용 실시간 3D 가시화 시스템을 설계하고 구현한 결과에 대해서 설명 한다. 실시간 3D 가시화 시스템은 요소 기능, 기존 그래픽 데이터 활용, 타 시스템과의 연동 측면에서 도출된 운용 요구사항들을 만족하며 추가적인 기능의 확장이 용이한 구조로 설계되었다. A ship handling simulator is popular means of preventing marine accidents caused by human error. It can also be used to train navigators. A real-time 3D visualization system, a component of a ship handling simulator, is an important component, as realistic and intuitive image generation play an essential role in improving the effects of education using ship handling simulators. This paper discusses the design of a new real-time 3D visualization system based on an open source 3D graphics engine as well as its implementation. The developed real-time 3D visualization system satisfies the operational requirements derived in terms of visualization functionalities, reuse of legacy graphic data, and interoperability with other systems constituting a ship handling simulator. This system has an architecture in which new functionalities are easily added.