박찬국 교수

An adaptive step length estimation algorithm operating with optimal parameters and a movement status awareness algorithm are proposed. The proposed algorithm was developed as a means for increasing the accuracy in estimating walking distances. The algorithm was applied to pedestrian navigation system, ubiquitous health monitoring systems, and so forth. The algorithm's optimal parameters were derived after measurement errors were taken into consideration. The movement status awareness algorithm w

Abstract The well‐known conventional Kalman filter gives the optimal solution but requires an accurate system model and exact stochastic information. In a number of practical situations, the system model has unknown bias and the Kalman filter with unknown bias may be degraded or even diverged. The two‐stage Kalman filter (TKF) to consider this problem has been receiving considerable attention for a long time. Until now, the optimal TKF for system with a constant bias or a random bias has been pr

As shown in Fig. 6, for 3⁄4 D 0:3 and low damping (3model 1, but this will cause the second amplitude A2 to be negativeand we were interested in positive amplitude shapers [see Eq. (2)]. This suggests that, when uncertaintiesare very large (and 3model is small), the best designs or more appropriate designs are those obtained by taking convex combinations of ZVDD and 2-hump EI shapers.

In this paper, we propose an advanced pedestrian dead-reckoning (PDR) algorithm that considers the heel-strike and toe-off phases. Generally, PDR systems that use a foot-mounted inertial measurement unit are based on an inertial navigation system with an extended Kalman filter (EKF). To reduce the influence of the bias and white noises in the gyroscope and accelerometer signals, a zero-velocity update is often adopted at the stance phase. However, transient and large acceleration, which cannot b

An enhanced pedestrian dead reckoning (PDR) based navigation algorithm, which uses two cascaded Kalman filters (TCKF) for the estimation of course angle and navigation errors, is proposed. The proposed algorithm uses a foot-mounted inertial measurement unit (IMU), waist-mounted magnetic sensors, and a zero velocity update (ZUPT) based inertial navigation technique with TCKF. The first stage filter estimates the course angle error of a human, which is closely related to the heading error of the I

하이데거에 대한 그동안의 연구에서 하이데거가 말하는 불안은 보통 무상감이나 허무감과 동일한 것으로 해석되어 왔다. 그러나 하이데거에게서 불안은 무상감과 허무감을 넘어서 현존재에게 본래적인 실존가능성을 개시하면서 우리를 결단에로 이끄는 기분일 뿐 아니라 본래적인 실존으로서의 결의성을 규정하는 기분이기도 하다. 이 글의 목표는 일차적으로 하이데거의 불안 분석의 내용을 살펴본 후 그것이 우리 대부분이 경험하는 불안이라는 기분과 얼마나 부합되는지를 비판적으로 검토하는 것을 목표하고 있다. 따라서 이 글은 크게 두 부분으로 나뉘어 전개된다. 첫째로 이 글은 하이데거가 말하는 불안은 사람들이 보통 동일시하기 쉬운 허무감 이상의 것이라는 것을 보여 줄 것이다. 둘째로 이 글은 불안에 대한 하이데거의 분석과 비본래적인 실존에서 본래적인 실존에로의 도약 과정에 대한 하이데거의 분석이 얼마나 사태에 부합되는지를 비판적으로 검토할 것이다. 이러한 검토는 불안이란 기분과 비본래적인 실존에서 본래적인 실

In this study, a simple but effective spoofing detection method using a global positioning system (GPS) directional antenna is proposed which exploits the difference between the estimated direction‐of‐arrival (DOA) and the measured DOA from a GPS almanac and ephemeris data. The receiving signal's DOA is estimated by using a single antenna power measurement‐based complex extended Kalman filter (EKF) which is a complex valued state space based estimation technique. Furthermore, an adaptive logic i

Abstract Recently, the adaptive two‐stage Kalman filter, which can track unknown random bias, was proposed. This filter can be used for systems with unknown random bias on the assumption that the stochastic information of a random bias is incomplete. This paper analyses the stability of the adaptive two‐stage Kalman filter. Copyright © 2007 John Wiley & Sons, Ltd.

In this study, the effect of acceleration matching according to sensor specifications in rapid transfer alignment is analysed. In general, the velocity and attitude information of the Master Inertial Navigation System (MINS) is used for transfer alignment. MINS angular velocity information is used to improve the alignment speed in shipboard transfer alignment. Acceleration matching, on the other hand, is generally considered an impractical option for transfer alignment. However, in the case of s