Publications

1. Nam, Y., Lee, H., Choi, H., Ra, W.S., & Kwon, C.: `Attack intent inference of hypersonic glide vehicle based on a unified dynamics and decision-making model, IEEE Trans. Aero. Electron. Sys., 2025.05, pp.12554-12568 (https://doi.org/10.1109/TAES.2025.3575052)

2. Han, KH., Whang, I.H. & Ra, W.S.: `Optimal design method for cruciform missile autopilot via generalization of three-loop topology'. Int. J. Control Autom. Syst. 2024.12, pp. 3616–3631 (https://doi.org/10.1007/s12555-024-0578-9)  

3. Han, K.H, Whang, I.H., and Ra, W.S: 'On-line trajectory optimization in parameter space for automatic pumping cycle of airborne wind energy system', J. Electrical Eng. Tech., 2024.8., pp. 3687-3697 (https://doi.org/10.1007/s42835-024-02006-3)  

4. Lee, C.S., Whang, I.H., and Ra, W.S.: 'Knowledge-based multiple hypothesis tracking and identification of maneuvering reentry targets', IET Radar, Sonar, and Navigation, 2023.10, pp.1479-1497 (https://doi.org/10.1049/rsn2.12436).

5. Suh, U.S., Lee, G., Han, J.E., Kim, T.W., and Ra, W.S.: 'Passive IR-UWB localization system for UAV-based electric facility inspection during GPS outage', IEEE Access, 2023.4, pp. 39597-39608. (https://doi.org/10.1109/ACCESS.2023.3269285) 

6. Lee, C.S., Kim, K.M., Ra, W.S., and I.H. Whang: 'Practical distance-based multi-robot formation control using low-cost ultrasonic source tracker', J. Electrical Eng. Tech., 2023.3, pp. 3219-3236. (https://doi.org/10.1007/s42835-023-01431-0)  

7. Kim, D., Park, A., Suh, U.S., Goo, D., Kim, D., Yoon, B., Ra, W.S., and Kim, S.: 'Accurate clutter synthesis model for heterogeneous textures and dynamic radar environment', IEEE Trans. Aerospace and Electronics System, 2022.8, pp. 3427-3445. (https://doi.org/10.1109/TAES.2022.3151585) 

8. Suh, U.S., Han, S.K., and Ra, W.S.: 'Optimal formation of UAV swarm for TDOA-based passive target tracking', J. Electrical Eng. Tech., 2022.1, pp.551~564. (https://doi.org/10.1007/s42835-021-00872-9)  

9. Kim, C.Y., Kim, Y.H., and Ra, W.S.: 'Modified 1D virtual force field approach to moving obstacle avoidance for autonomous ground vehicles', J. Electrical Eng. Tech., 2019.5, pp. 1367-1374. (https://doi.org/10.1007/s42835-019-00127-8) 

10. Suh, U.S., Lee, Y.H., Ra, W.S., and Kim, T.W.: 'Robust bearing angle error estimation for mobile robots with a gimballed ultrasonic seeker', IEEE Trans. Industrial Electronics, 2018.7., pp. 5785-5795. (https://doi.org/10.1109/TIE.2017.2777411) 

11. Ra, W.S., Whang, I.H., Shin, H.S., and Tsourdos, A..: 'Efficient aimpoint tracking using target range profiles of a wideband FMCW radar', Int. J. Control, Automation, Sys., 2017.8, pp.1969-1974. (https://doi.org/10.1007/s12555-016-0109-4)  

12. Han, S.K., Ra, W.S., and Park, J.B.: 'TDOA/FDOA based target tracking with imperfect position and velocity data of distributed moving sensors', Int. J. Control, Automation, Sys., 2017.6, pp.1155-1166. (https://doi.org/10.1007/s12555-015-0419-y) 

13. Kim, S.H., Park, J.H., Yoon, W, Ra, W.S., and Whang, I.H.: 'A note on sensor arrangement for long-distance target localization', Signal Processing, 2017.04, pp.18-31. (https://doi.org/10.1016/j.sigpro.2016.10.011) 

14. Han, S.K., Ra, W.S., Whang, I.H., and Park, J.B.: 'Geometric joint probabilistic data association approach to ballistic missile warhead tracking using FMCW radar seeker', IET Radar, Sonar, and Navigation, 2016.10, pp.1422-1430. (https://doi.org/10.1049/iet-rsn.2015.0510) 

15. Yu, B.G., Lee, G.H., Han, H.G., Ra, W.S., and Kim, T.W.; 'A time-based angle-of-arrival sensor using CMOS IR-UWB transceivers', IEEE Sensors Journal, 2016.5, pp. 5563-5571. (https://doi.org/10.1109/JSEN.2016.2567441) 

16. Moon, H.B., Jeong, Y.G., and Ra, W.S.: 'Terminal acceleration stabilizing guidance law for impact angle constrained interception of non-maneuvering targets', Int. J. Control, Automation, Sys., 2015.12, pp. 1-13. (https://doi.org/10.1007/s12555-014-0196-z)   

17. Choi, T.S., Ra, W.S., and Park, J.B.: 'Depth sensor and DVL aided-vertical channel damping loop design for underwater vehicles', IET Electronics Letters, 2015.10, pp.1763-1765. (https://doi.org/10.1049/el.2015.1296) 

18. Han, S,K., Ra, W.S., Whang, I.H., and Park, J.B.: 'Gaussian mixture approach to decision making for automotive collision warning', Int. J. Control, Automation, Sys., 2015.10, pp. 1182-1192. (https://doi.org/10.1007/s12555-014-0238-6) 

19. Han, S.K., Ra, W.S., Whang, I.H., and Park, J.B.: 'Linear recursive passive target tracking filter for cooperative sea-skimming missiles', IET Radar, Sonar, and Navigation, 2014.8, pp. 805–814. (https://doi.org/10.1049/iet-rsn.2013.0158) 

20. Han, S.K., Ra, W.S., Whang, I.H., and Park, J.B.: 'Linear recursive automotive target tracking filter for advanced collision warning systems', Applied Mathematics and Information Science, 2014.5, pp.1145-1151. (http://dx.doi.org/10.12785/amis/080325) 

21. Choi, G,H., Ra, W.S., Park, S.Y., and Park, J.B.: 'Robust least squares approach to passive target localization using ultrasonic receiver array', IEEE Trans. Industrial Electronics, 2014.4, pp.1993-2002. (https://doi.org/10.1109/TIE.2013.2266076) 

22. Choi, K.H., Ra, W.S., Park, J.B., and Yoon, T.S.: 'Compensated robust least squares estimator for target localization in sensor network using TDOA measurements', IET Signal Processing, 2013.10, pp.664-673. (https://doi.org/10.1049/iet-spr.2012.0374) 

23. Choi, G,H., Ra, W.S., Park, J.B., and Yoon, T.S.: 'Performance analysis of the robust least squares target localization scheme using RDOA measurements', J. Electrical Eng. Tech., 2012.7. (https://doi.org/10.5370/JEET.2012.7.4.606) 

24. Lee, H.S., Ra, W.S., Lee, J.G., Song, Y.K., and Whang, I.H.: 'Aerodynamic coefficient identification using a non-conservative robust Kalman filter', J. Electrical Eng. Tech., 2012.1. (https://doi.org/10.5370/JEET.2012.7.1.132) 

25. Ra, W.S. and Whang, I.H.: ‘Time-varying line-of-sight rate estimator with a single modified tracking index for RF homing guidance’, Int. J. Control, Automation, Sys., 2011.9. (https://doi.org/10.1007/s12555-011-0506-7)  

26. Ra, W.S., Whang, I.H. and Park, J.B.: ‘Non-conservative robust Kalman filtering using a noisy measurement matrix’, IET Control Theory Appl., 2009.9. (https://doi.org/10.1049/iet-cta.2008.0224) 

27. Park, J.H., Ra, W.S., Yoon, T.S. and Park, J.B.: ‘Real-time pinch detection algorithm : robust to impulsive noise’, Int. J. Control, Automation, Sys., 2009.3. (https://doi.org/10.1007/s12555-009-0204-x) 

28. Ra, W.S., Lee, H.J., Park, J.B. and Yoon, T.S.: ‘Practical pinch detection algorithm for smart automotive power window control systems’, IEEE Trans. Industrial Electron., 2008, 55(3) pp. 1376-1384. (https://doi.org/10.1109/TIE.2007.911915) 

29. Ra, W.S., Whang, I.H., Ahn, J.Y. and Park, J.B.: ‘Recursive robust least squares estimator for time-varying linear systems with a noise corrupted measurement matrix’, IET Control Theory Appl., 2007, 154(1) pp. 104-112. (https://doi.org/10.1049/iet-cta:20050331) 

30. Ra, W.S. and Whang, I.H.: ‘Fast convergent robust range estimator for surface-to-air missiles’, IEE Electronics Letters, 2006, 42(22) pp. 1265-1266. (https://doi.org/10.1049/el:20062636) 

31. Ra, W.S. and Whang, I.H.: ‘Real-time long-term prediction of ship motion for fire control applications’, IEE Electronics Letters, 2006, 42(18) pp. 13-14. (https://doi.org/10.1049/el:20061053) 

32. Ra, W.S., Whang, I.H. and Park, H.R.: ‘Robust damping loop design for GPS/INS vertical channel’, IEE Electronics Letters, 2006, 42(11) pp. 617-618. (https://doi.org/10.1049/el:20064460) 

33. Whang, I.H., Ra, W.S. and Ahn, J.Y. : ‘A modified least squares range estimator for ASM(antiship missile) application’, Int. J. Control, Automation, Sys., 2005, 3(3) pp. 486-492. (https://www.ijcas.org/journal/download_pdf.php?spage=486&volume=3&number=3) 

34. Ra, W.S. : ‘Practical adaptive notch filter for missile bending mode rejection’, IEE Electronics Letters, 2005, 41(5) pp. 228-229. (https://doi.org/10.1049/el:20057263) 

35. Ra, W.S., Whang, I.H. and Ahn, J.Y.: ‘Robust horizontal line-of-sight rate estimator for sea skimming anti-ship missile with two-axis gimballed seeker’, IEE Radar Sonar Navig., 2005, 152(1) pp. 9-15. (https://doi.org/10.1049/ip-rsn:20041177) 

36. Ra, W.S., Jin, S.H. and Park, J.B.: ‘Set-valued estimation approach to recursive robust H-infinity filtering’, IEE Control Theory Appl., 2004, 151(6) pp. 773-782. (https://doi.org/10.1049/ip-cta:20041051) 

37. Lee, T.H., Ra, W.S., Jin, S.H., Yoon, T.S. and Park, J.B.: ‘Robust extended Kalman filtering via Krein space estimation’, IEICE Fundamentals of Electron. Comm. Computer Sci., 2004, E87-A(1) pp. 243-250. (https://globals.ieice.org/en_transactions/fundamentals/10.1587/e87-a_1_243/_p) 

38. Lee, T.H., Ra, W.S., Yoon, T.S. and Park, J.B.: ‘Robust Kalman filtering via Krein space estimation’, IEE Control Theory Appl., 2004, 151(1) pp. 59-63. (https://doi.org/10.1049/ip-cta:20040064) 

39. Ra, W.S., Jin, S.H., Yoon, T.S. and Park, J.B.: ‘Suboptimal robust generalized H2 filtering using linear matrix inequalities’, Trans. Control, Automation, Sys. Eng., 1999, 1(2) pp. 134-140. (https://www.ijcas.org/journal/download_pdf.php?spage=134&volume=1&number=2) 

1. 정보영, 이윤하, 나원상, 설권, 신승용, 문경빈: `CIWS 레이더 추적성능 향상을 위한 시간불일치 보상 기반 비동기 이종센서 정보융합 기법', 전기학회논문지 75(12), 2025.12

2. 황익호, 강지훈, 안지훈, 조형준, 문경빈, 나원상: `해상 저고도 비행 표적의 레이더 추적을 위한 고도 제약 가우시안 필터링 기법', 전기학회논문지 75(11), 2025.11

3. 정선교, 강지훈, 한광희, 조관필, 나원상: `재진입 비행체의 상승기동 특성을 활용한 장시간 궤적 예측 기법 ', 대한전기학회, 전기학회논문지 74(4), 2025.04

4. 서의석, 나원상, 서태일: `잠항 이동체의 항법 응용을 위한 수평면 SDINS 장주기 위치오차 해석 해', 대한전기학회, 전기학회논문지 74(4), 2025.04 

5. 한광희, 한지은, 황익호, 나원상: '카나드 구동 비행체의 종가속도 제어 성능 향상을 위한 변형된 3-루프 오토파일롯', 대한전기학회, 전기학회논문지 73(7), 2024.07

6. 김진관, 황익호, 나원상: '항법성능을 고려한 수중 자율이동체의 축소차수 동특성모델 결정방법', 대한전기학회, 전기학회논문지 73(6), 2024.06

7. 정보영, 황익호, 나원상: '레이더 극좌표계 측정치를 활용한 점근 불편향 선형 표적추적 필터', 제어로봇시스템학회 논문지 30(3), 2024.03, pp.267-275

8. 정보영, 정선교, 이성주, 나원상: '측각 동특성을 활용한 RCS 기반 다중가설 표적식별 기법', 제어로봇시스템학회 논문지 29(8), 2023.8, pp. 641-651

9. 조형찬, 이찬석, 정보영, 한슬기, 나원상: '복수 탐지정보의 공간분포 사전지식을 활용한 고해상도 차량용 레이더 표적추적 필터 설계', 대한전기학회, 전기학회논문지 72(2), 2023.2, pp. 270-279

10. 이찬석, 정보영, 나원상: '기동모델이 변침기동 탄도탄 추적에 미치는 영향에 대한 고찰', 대한전기학회, 전기학회논문지 71(12), 2022.12, pp. 1830-1840

11. 유지환, 나원상, 김영근: '변전소 불량애자 검출을 위한 드론 EO/IR 영상 기반의 경량화 객체탐지 모델 응용 연구', 대한전기학회, 전기학회논문지 71(3), 2022.3

12. 조형찬, 정보영, 서의석, 김영원, 나원상: '다중 레이더 배치를 위한 폐쇄형 표적추적 성능지표 산출', 대한전기학회, 전기학회논문지 70(9), 2021.9, pp.1381-1390

13. 정보영, 이찬석, 서의석, 나원상: '재진입 표적추적을 위한 복수 레이더 2단계 정보융합 기법', 대한전기학회, 전기학회논문지 70(9), 2021.9, pp.1372-1380

14. 서의석, 이찬석, 김태완, 나원상: 'GPS 비가용 환경을 고려한 점검 무인비행체의 보조 측위센서 설계 개념', 대한전기학회, 전기학회논문지 70(3), 2021.3, pp.526-534

15. 함다혜, 조형찬, 나원상, 안지훈, 김상현, 박준현: '함정 근접방어체계의 요격성능 향상을 위한 고기동 표적의 장시간 궤적 예측기법', 대한전기학회, 전기학회논문지 70(2), 2021.2, pp.408-417

16. 함다혜, 조형찬, 윤유정, 나원상, 한슬기: '차량용 2D 라이다를 이용한 특징정보 기반 확장표적추적 기법', 대한전기학회, 전기학회논문지 70(1), 2021.1, pp.224-235

17. 오선택, 김형우, 조성현, 유지환, 권용성, 나원상, 김영근: '드론의 변전소 애자 이상현상 탐지를 위한 심층신경망 경량화 모델 기반 알고리즘 개발 연구', 제어로봇시스템학회, 제어로봇시스템학회 논문지 26(11), 2020.11, pp.884-890

18. 정보영, 함다혜, 서의석, 나원상, 윤보람, 김동환: '전투기 탑재 AESA 레이다를 위한 예측시선좌표계 기반 표적 추적필터 설계', 대한전기학회, 전기학회논문지 69(6), 2020.6, pp.914-923

19. 나원상, 신효상, 정보영, 황익호: '표적 정보량을 최대화하는 피동 호밍궤적에 관한 고찰', 대한전기학회, 전기학회논문지 68(1), 2019.1, pp. 172-181

20. 김찬영, 홍다니엘, 나원상: '비고유 특징을 갖는 의미정보를 이용한 지상 자율이동체 측위 기법', 대한전기학회, 전기학회논문지 67(11), 2018.11, pp. 1486-1495

21. 이윤하, 김찬영, 나원상, 황익호: '다중 UAV 협업을 위한 선형 분산 피동 표적추적 필터 설계', 대한전기학회, 전기학회논문지 67(2), 2018.2, pp. 314-324

22. 이윤하, 나원상, 김광훈, 안명환, 이범직: '수중 자율이동체의 장시간 수중항법 성능 개선을 위한 표준 수력학 모델 기반 속도 추정필터 설계', 대한전기학회, 전기학회논문지 65(11), 2016.11, pp. 1868-1878

23. 정영광, 나원상: 'SAR 집중조사모드를 위해 전 개구면을 사용하는 수정된 FSA 기법', 한국항공우주학회, 한국항공우주학회지 44(10), 2016.10, pp. 921-932

24. 장주영, 이자승, 윤한솔, 나원상: '임펄스 측정잡음에 강인한 저가형 볼앤빔 시스템의 접촉식 볼 추적센서 개발', 제어로봇시스템학회, 제어로봇시스템학회 논문지 20(11), 2014.11, pp. 1136-1141

25. 한슬기, 나원상, 박진배, 홍영곤, 박성호, 선웅: '대탄도탄 FMCW 탐색기를 위한 탄두부 추적 필터 설계', 대한전기학회, 전기학회논문지 61(5), 2012.5, pp. 726-734

26. 이혜경, 한슬기, 나원상: '다중 UAV에서 측정된 거리차 정보를 이용한 선형 강인 표적추적 필터 설계', 대한전기학회, 전기학회논문지 61(2), 2012.2, pp. 284-290

27. 한슬기, 이혜경, 나원상, 박진배, 임재일: '김발형 초음파 이동음원 추적센서 개발을 위한 의사최적 도래각 추정기법', 대한전기학회, 전기학회논문지 61(2), 2012.2, pp. 276-283

28. 한슬기, 나원상, 황익호, 박진배: '인지로봇 청각시스템을 위한 의사최적 이동음원 도래각 추적 필터', 제어로봇시스템학회, 제어로봇시스템학회 논문지 17(3), 2011.3, pp. 211-217

29. 최가형, 나원상, 박진배, 윤태성: '통계적 오차보상 기법을 이용한 센서 네트워크에서의 RDOA 측정치 기반의 표적측위', 대한전기학회, 전기학회논문지 59(10), 2010.10, pp. 1874-1881

30. 나원상, 황익호, 이혜진, 박진배, 윤태성: '주행거리계의 기구적 오차에 강인한 개선된 상대 위치추정 알고리즘', 제어로봇시스템학회, 제어로봇시스템학회 논문지 14(9), 2008.9, pp. 931-938

31. 황익호, 나원상, 박해리: '칼만 필터를 이용한 비례항법유도 도달시간 추정기 설계', 제어로봇시스템학회, 제어로봇시스템학회 논문지 14(8), 2008.8, pp. 740-744

32. 최가형, 나원상, 곽기석, 윤태성, 박진배: '선형 홀센서 기반의 모터 회전속도 측정을 위한 평균 최소 자승 추정기', 대한전기학회, 전기학회논문지 57(5), 2008.5, pp. 866-874

33. 고보연, 나원상, 이용웅: '신호자료 및 궤도정보를 이용한 Radarsat-1 도플러 정보 추출기법 연구', 대한원격탐사학회, 대한원격탐사학회지 19(6), 2003.12, pp. 421-430

1. Han, K.H., Ra, W.S., and Whang, I.H.: 'Practical homing guidance law for impact angle control of a reentry vehicle with limited maneuverability', ECC, 2025.06, Thessaloniki, Greece

2. Jung, B.Y., Lee, C.S., and Ra, W.S.: 'Ballistic target tracking using range spread measurements of a wideband radar seeker', FUSION, 2024.07, Venice, Italy

3. Lee, S.J., Jung, B.Y., Park, S.J., and Ra, W.S.: 'Re-entry target identification with RCS measurements considering multi-radar geometry', FUSION, 2024.07, Venice, Italy

4. Han, K.H., Han, J.E., and Ra, W.S.: 'Minimum-waypoint figure-eight trajectory shaping for airborne wind energy systems', IEEE ISIE, 2024.06, Ulsan, South Korea

5. Han, J.E., Lee, H.S., and Ra, W.S.: 'Improved aerodynamic coefficient identification using non-conservative robust Kalman smoother', IEEE IECON, 2022.11, Brussels, Belgium

6. Lee, C.S, Cho, H.C., Jung, B.Y., and Ra, W.S.: Adaptive sequential Gaussian sum approximation for high-resolution radar target tracking with non-Gaussian multi-detection', ICCAS, 2022.11, Busan, South Korea

7. Suh, U.S., Kim, T.W., Kang, D.H., Lee, K.M., Ra, W.S., and Kim, T.: 'A robust passive target localization for substation inspection of UAV in a GPS-denied environment', IEEE ICIT, 2021.03, Virtual

8. Jung, B.Y., Ham, D., and Ra, W.S.: 'Sequential coordinates conversion and decoupled linear tracking for airborne AESA radars', IEEE CDC, 2020.12, Jeju, South Korea

9. Ra, W.S., Ahn, S., and Whang, I.H.: ‘Time-varying radome slope estimation for passive homing anti-ship missiles’, IEEE CDC, 2019.12, Nice, France

10. Ra, W.S., Shin, H.Y., Lee, Y., and Whang, I.H.: `Recursive time-to-go estimator for anti-ship missiles guided by pure proportional navigation', 2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS). IEEE, 2019.11, Cranfield, United Kingdom.

11. He, S., Shin, H. S., Ra, W. S., and Tsourdos, A..: 'Observability-enhancement optimal guidance law', 2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS). IEEE, 2019.11, Cranfield, United Kingdom.

12. Ra, W.S., Lee, Y., and Whang, I.H.: ‘Consistent Kalman filter for distributed target tracking with polar measurements’, IEEE IECON, 2018.10, Lisbon, Portugal

13. Kim, C.Y., Ra, W.S., and Whang, I.H.: 'Tgo rational function biased PN guidance law for precise impact angle control with first-order dynamic lag', ICCAS, 2017.10, Jeju, South Korea

14. Hong, D., Heo, G., Myung, C.W., and Ra, W.S.: 'Data association approach to mobile robot localization using non-unique landmarks', ICCAS, 2917.10, Jeju, South Korea

15. Suh, U.S., Lee, Y.H., and Ra, W.S.: 'Robust bearing angle estimator for low-cost 1-axis gimballed ultrasonic seeker', IEEE ISIE, 2017.6, Edinburgh, United Kingdom

16. Jeong, Y.K., Lee, Y.H., and Ra, W.S.: 'Optimal formation of cooperative multiple UAVs for enhancing passive target tracking performance', IEEE IECON, 2016.10, Firenze, Italy

17. Lee, Y.H., Seo, U.S., and Ra, W.S.: 'Leader-follower formation control of multi-robot without communication links', IEEE IECON, 2016.10, Firenze, Italy

18. Choe, T.S., Ra, W.S., Park, J.B., Kim, K., and Ahn, M.: 'Vertical channel damping loop design using vertical position and velocity information', ICCAS, 2015.10, BEXCO, Busan, Korea

19. Han, S.K., Ahn, S.J., Ra, W.S., and Park, J.B.: 'Missile radome error compensation using modified interacting multiple model Kalman filter', ICCAS, 2014.10, KINTEX, Korea

20. Han, S.K., Ra, W.S., and Park, J.B.: 'Missile warhead tracking algorithm with measurement appearance feature', IEEE IECON, 2013.11, Vienna, Austria

21. Han, S.K., Ra, W.S., and Park, J.B.: 'A novel missile warhead tracking algorithm based on geometric data association', IEEE CDC, 2012.12, Hawaii, USA

22. Lee, H.K., Ra, W.S., and Whang, I.H.: 'Range difference based linear recursive robust target tracking for multiple UAV applications', IEEE IECON, 2011.11, Melbourne, Australia

23. Moon, H.B., Ra, W.S., Whang, I.H., and Kim, Y.J.: 'Optimal guidance cut-off strategy based on closed-form PNG solution for single lag system', IEEE IECON, 2011.11, Melbourne, Australia

24. Han, S.K., Ra, W.S., Whang, I.H., and Park, J.B.: 'Linear recursive target state and time-to-collision estimator for automotive collision warning system', IEEE IECON, 2011.11, Melbourne, Australia

25. Han, S.K., Ra, W.S., Park, J.B., and Yoon, T.S.: 'Quasi-optimal recursive time delay estimator for real sinusoids', SICE Annual Conference, 2010.8, Tapei, Taiwan

26. Ra, W.S., Whang, I.H., and Yoon, T.S.: 'Constrained robust Kalman filtering for passive source localization', ICCAS-SICE Joint Conference, 2009.8, Fukuoka, Japan

27. Doo, S.H., Ra, W.S., Yoon, T.S., and Park, J.B.: 'Fast time-frequency domain reflectometry based on the AR coefficient estimation of a chirp signal', American Control Conference, 2009.6, St. Louis, USA

28. Ra, W.S., Whang, I.H. and Park, J.B.: ‘Less-conservative robust Kalman filtering using a noise corrupted measurement matrix for discrete linear time-varying systems’, IEEE Conf. Industrial Technology, 2009, Australia.

29. Whang, I.H. and Ra, W.S.: ‘Time-to-go estimator for missile guided by BPNG’, ICCAS, 2008, Seoul, Korea.

30. Ra, W.S., Whang, I.H. and Park, J.B.: ‘Robust weighted least squares range estimator for UAV applications’, SICE Annual Conference, 2008, Tokyo, Japan.

31. Whang, I.H. and Ra, W.S.: ‘Time-to-go estimation filter for anti-ship missile application’, SICE Annual Conference, 2008, Tokyo, Japan.

32. Ra, W.S. and Whang, I.H.: ‘Stochastic robust Kalman filtering for linear time-varying systems with a multiplicative measurement noise’, IFAC World Congress, 2008, Seoul, Korea.

33. Whang, I.H. and Ra, W.S.: ‘Simple altitude estimator using air-data and GPS measurements’, IFAC World Congress, 2008, Seoul, Korea.

34. Choi, G.H., Ra, W.S., Yoon, T.S. and Park, J.B.: ‘Low-cost tachometer based on the recursive frequency estimation for automotive application’, SICE Annual Conference, 2007, Kagawa, Japan.

35. Whang, I.H. and Ra, W.S.: ‘Barometer error identification filter design using sigma point hypotheses’, ICCAS, 2007, Seoul, Korea.

36. Whang, I.H. and Ra, W.S.: ‘Multiple hypothesis tracking in generalized hough transformed images’, IEEE CDC, 2006, Sandiego, USA.

37. Ra, W.S., Whang, I.H. and Park, J.B.: ‘Real-time line-of-sight rate estimator for surface-to-air missiles with a RF seeker’, IEEE IECON, 2006, Paris, France.

38. Ra, W.S. and Whang, I.H.: ‘Recursive weighted least squares filter for frequency estimation’, SICE-ICASE Int. Joint Conf., 2006, Busan, Korea.

39. Whang, I.H. and Ra, W.S.: ‘Robust Kalman filtering based on multiple hypothesis techniques’, SICE-ICASE Int. Joint Conf., 2006, Busan, Korea.

40. Ra, W.S., Lee, H.J., Yoon, T.S. and Park, J.B.: ‘Real-time robust pinch detection algorithm for automotive applications’, IEEE Int. Conf. Intelligent Transportation Systems, 2005, Toronto, Canada.

41. Lee, H.J., Ra, W.S., Yoon, T.S. and Park, J.B.: ‘Robust pinch estimation and detection algorithm for low-cost anti-pinch window control system’, IEEE IECON, 2005, Raleigh, USA.

42. Ra, W.S., Jin, S.H., Yoon, T.S. and Park, J.B.: ‘Recursive robust H1 filtering within the framework of set-valued estimation’, IEEE CDC, 2004, Atlantis, Bahama.

43. Lee, T.H., Ra, W.S., Yoon, T.S. and Park, J.B.: ‘Robust filtering for linear discrete-time systems with parametric uncertainties’, IEEE CDC, 2003, Hawaii, USA.

44. Ra, W.S. and Whang, I.H.: ‘A robust horizontal LOS rate estimator for 2-axes gimbaled seeker’, IEEE CDC, 2002, Lasvegas, USA.

1. KOR Patent ID:  10-2023-0015662,

'System for detecting road boundary based on artificial intelligence and information from radar sensor and method implementing the same',

Inventor: Won-Sang Ra, Seon-Gyo Jeong, and Seul-Ki Han

Filed : 03/24/2025, Disclosed :  

2. KOR Patent ID:  10-2023-0015662,

'Method and apparatus for identifying object',

Inventor: Won-Sang Ra, Hyung-Chan Cho, Chan-Seok Lee, and Seul-Ki Han

Filed : 06/02/2023, Disclosed : 1020240123117 (08/13/2024)   

3. KOR Patent ID: 10-2020-0128990,   US Patent ID: 17495208

'A simultaneous estimating method for movement and shape of target vehicle using preliminary distribution model of tracklet',

Inventor: Won-Sang Ra, Bo-Young Jung, Dahye Ham, Ui-Suk Suh, and Seul-Ki Han

Filed : 10/06/2020, Disclosed : 1020220045846 (04/13/2022) 

4. KOR Patent ID: 10-2501-2750000

'Precise trajectory prediction method and apparatus of a highly maneuvering target through flight dynamics estimation and multipath suppression',

Inventor: Won-Sang Ra, Dahye Ham, Hyung-Chan Cho, Ui-Suk Suh, Ji-Hoon Ahn, Joon-Hyun Kim, and Sang-Hyun Kim

Filed : 05/02/2021, Registered : 14/02/2023

5. KOR Patent ID: 10-1876-6450000, 

'System and method of calculating angle of arrival based on time difference',

Inventor : Tae-Wook Kim, Won-Sang Ra, Hong Gul Han, and Byung-Gyu Yu

Filed : 12/05/2016, Registered : 07/03/2018

6. KOR Patent ID : 2006-0028891,

‘Method for real-time range estimation of unmanned air vehicle’

Inventor : Ick-Ho Whang and Won-Sang Ra

License : Agency for Defense Development

Filed : 03/30/2006, Registered : 09/28/2007

7. KOR Patent ID : 2006-0046071,

‘Method for an adaptive notch filtering based on robust frequency estimation’

Inventor : Ick-Ho Whang and Won-Sang Ra

License : Agency for Defense Development

Filed : 05/23/2006, Registered : 05/22/2007