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Vista IV, Felipe P.,Chong, Kil To Hindawi Limited 2019 Journal of sensors Vol.2019 No.-
<P>This paper describes the design and real-time implementation of a proposed algorithm for deriving an accurate heading system by fusing data from various inexpensive sensor devices that is comparable to more expensive maritime navigation systems. The proposed algorithm is a 3-Stage Classification N’ Weighing (CnW) Heading System with forward azimuth (FAz) and extended Kalman filter (EKF). Data from three Global Positioning System devices, an inertial measurement unit, and an electronic compass were fed into the algorithm that can be generally described as Classification N’ Weighing-Stage 1 → forward azimuth → Classification N’ Weighing-Stage 2 → extended Kalman filter → Classification N’ Weighing-Stage 3. The proposed algorithm is shown to be comparably accurate as an expensive marine navigation system, and it has less processing time compared to our previous work. The Qt-anywhere-based system developed on a Linux desktop was successfully downloaded onto an Ubuntu Linux-embedded board for real-time implementation. Important notes related to device naming problems when deploying the system on a Linux-embedded board are also given as reference for those interested to address it.</P>
Fusing Multiple Inexpensive GPS Heading Data via Fuzzified Ad-Hoc Weighing
Vista IV, Felipe P.,Lee, Deok Jin,Chong, Kil To Trans Tech Publications, Ltd. 2015 Applied Mechanics and Materials Vol.776 No.-
<P>Applying the same principle behind the Ad-hoc weighing used in fusing data from two inexpensive GPS and an electronic compass (EC) brought up the problem of numerous conditions when trying to fuse data from three GPS devices. Fusing data from two GPS and one EC required at least thirty-two (32) conditions while using three GPS would require 182 conditions that would have entailed a complex set of programming codes. Fuzzy logic was explored as a possible candidate to replace the hard-coding of if-then-statements but still perform the ad-hoc algorithm as desired. The GPS Fix and HDOP (horizontal dilution of precision) values are utilized to derive the corresponding weight to be assigned to the individual GPS as well as the overall fused GPS data. Experimental tests using actual GPS data showed the effectivity of the proposed method.</P>
Design Convergent Dynamic Window Approach for Quadrotor Navigation
Felipe Patino Vista IV,정길도,Ansu Man Singh,이덕진 한국정밀공학회 2014 International Journal of Precision Engineering and Vol.15 No.10
This paper propose a novel objective function for the Dynamic Window Approach (DWA). We prove the convergence property of theobjective function using Lyapunov stability criteria. Unlike previous studies which concentrate on implementing the DWA in nonholonomicvehicles, in this paper we have considered a quadrotor whose motion is limited to a fixed X-Y plane just like a holonomicvehicle. Simulation result shows our method guides the vehicle in avoiding obstacles and converge to the goal even in situations whereconventional method failed.
Marine Tracking System using AIS, GPS, and ENC
Felipe P. Vista IV(비스타네 필립),Beom Seok Park(박범석),Chang Goo Lee(이창구),Yeong Chul Kim(김영철),Kil To Chong(정길도) 대한전기학회 2009 정보 및 제어 심포지엄 논문집 Vol.2009 No.10
For a marine navigator, keeping track of one's location in a specific area especially while on the way, or under way, is very important. Knowing the details of the immediate surrounding area where one is currently located comes as a very close second. Keeping these two important factors in mind, we propose an IT-based system for the marine industry that would keep track of own-ship and other ships in the area while stationary or in the move while at the same time showing the information about the current area from an Electronic Navigation Chart (ENC).