Journal of the Korea Institute of Military Science and Technology (한국군사과학기술학회지)

The Korea Institute of Military Science and Technology (한국군사과학기술학회)
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A Study for Vision-based Estimation Algorithm of Moving Target Using Aiming Unit of Unguided Rocket

무유도 로켓의 조준 장치를 이용한 영상 기반 이동 표적 정보 추정 기법 연구

  • Song, Jin-Mo (Department of Sensor Systems, Defence R&D Center, Hanwha Corporation) ;
  • Lee, Sang-Hoon (Department of Sensor Systems, Defence R&D Center, Hanwha Corporation) ;
  • Do, Joo-Cheol (Department of Tactical Missile Systems, Defence R&D Center, Hanwha Corporation) ;
  • Park, Tai-Sun (Department of Tactical Missile Systems, Defence R&D Center, Hanwha Corporation) ;
  • Bae, Jong-Sue (Department of Sensor Systems, Defence R&D Center, Hanwha Corporation)
  • 송진모 ((주)한화/방산 종합연구소 핵심기술2팀) ;
  • 이상훈 ((주)한화/방산 종합연구소 핵심기술2팀) ;
  • 도주철 ((주)한화/방산 종합연구소 전술체계팀) ;
  • 박태선 ((주)한화/방산 종합연구소 전술체계팀) ;
  • 배종수 ((주)한화/방산 종합연구소 핵심기술2팀)
  • Received : 2016.04.05
  • Accepted : 2017.04.14
  • Published : 2017.06.05
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Abstract

In this paper, we present a method for estimating of position and velocity of a moving target by using the range and the bearing measurements from multiple sensors of aiming unit. In many cases, conventional low cost gyro sensor and a portable laser range finder(LRF) degrade the accuracy of estimation. To enhance these problems, we propose two methods. The first is background image tracking and the other is principal component analysis (PCA). The background tracking is used to assist the low cost gyro censor. And the PCA is used to cope with the problems of a portable LRF. In this paper, we prove that our method is robust with respect to low-frequency, biased and noisy inputs. We also present a comparison between our method and the extended Kalman filter(EKF).

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References

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