Publications

1. 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)  

2. 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)  

3. 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).

4. 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) 

5. 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)  

6. 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) 

7. 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)  

8. 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) 

9. 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) 

10. 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)  

11. 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) 

12. 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) 

13. 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) 

14. 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) 

15. 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)   

16. 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) 

17. 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) 

18. 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) 

19. 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) 

20. 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) 

21. 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) 

22. 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) 

23. 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) 

24. 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)  

25. 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) 

26. 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) 

27. 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) 

28. 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) 

29. 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) 

30. 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) 

31. 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) 

32. 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) 

33. 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) 

34. 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) 

35. 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) 

36. 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) 

37. 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) 

38. 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. 정선교, 강지훈, 한광희, 조관필, 나원상: `재진입 비행체의 상승기동 특성을 활용한 장시간 궤적 예측 기법 ', 대한전기학회, 전기학회논문지, 2025.04

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

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

4. 김진관, 황익호, 나원상: '항법성능을 고려한 수중 자율이동체의 축소차수 동특성모델 결정방법', 대한전기학회, 전기학회논문지, 2024.06

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

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

7. 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

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

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

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

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

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

13. 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

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

15. 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

16. 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

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

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

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

20. 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

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

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

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

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

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

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

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

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

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

30. 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

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

1. 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

2. 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

3. 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

4. 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

5. 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

6. 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

7. 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

8. 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

9. 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 RED UAS, 2019.11, Cranfield, United Kingdom.

10. 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

11. 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

12. 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

13. 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

14. 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

15. 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

16. 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

17. 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

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

19. 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

20. 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

21. 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

22. 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

23. 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

24. 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

25. 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

26. 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.

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

28. 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.

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

30. 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.

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

32. 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.

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

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

35. 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.

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

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

38. 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.

39. 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.

40. 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.

41. 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.

42. 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