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온도 변화율을 이용한 자이로 바이어스 히스테리시스 오차 보상 기법
유해성,김천중,성창기,이인섭,박상은,박흥원,Yu, Haesung,Kim, Cheon Joong,Sung, Changgi,Lee, Inseop,Park, SangEun,Park, Heung-won 한국군사과학기술학회 2015 한국군사과학기술학회지 Vol.18 No.2
A method to compensate a bias hysteresis error of the ring laser gyro using the rate of temperature is proposed in this paper. Until now, we generally have measured and compensated the error of gyro and accelerometer using the temperature. However, we utilize the measured values of the temperature dependent error elements on the temperature rate in navigation system level. We show through experiments that the proposed method can improve the navigation performance and be very effective.
항공기 Run-Up 진동 환경에서의 관성항법장치 초기 정렬 방법 설계 및 평가
유해성,이인섭,오주현,김천중,박흥원,Yu, Haesung,Lee, Inseop,Oh, JuHyun,Kim, CheonJoong,Park, Heung-won 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.7
Inertial Navigation Systems (INS) are widely used as the main navigation device for aircraft. To get the initial attitude, the INS requires the initial alignment before navigation starts. An aircraft also needs an engine test procedure that causes some vibrations before flight. An INS can't be aligned in a vibration environment so the initial alignment is performed before the aircraft engine test. Therefore, the initial alignment time of an INS has been a major factor in limiting an aircraft's takeoff response time. In this paper, we designed an initial alignment algorithm that can be executed even in disturbances such as aircraft run-up. We demonstrated verification of the algorithm that is embedded on the real INS and testing methods to evaluate the alignment of the INS. We also analyzed the test results of the proposed initial alignment algorithm that is performed during a real aircraft run-up.
큰 초기 자세 오차를 가진 관성항법장치의 운항중 정렬을 위한 비선형 필터 연구
유해성(Haesung Yu),최상욱(Sang Wook Choi),이상정(Sang Jeong Lee) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.4
This paper describes the in-flight alignment of SDINS (Strapdown Inertial Navigation Systems) using an EKF (Extended Kalman Filter) and a UKF (Unscented Kalam Filter), which allow large initial attitude error uncertainty. Regardless of the inertial sensors, there are nonlinear error dynamics of SDINS in cases of large initial attitude errors. A UKF that is one of the nonlinear filtering approaches for IFA (In-Flight Alignment) are used to estimate the attitude errors. Even though the EKF linearized model makes velocity errors when predicting incorrectly in case of large attitude errors, a UKF can represent correctly the velocity errors variations of attitude errors with nonlinear attitude error components. Simulation results and analyses show that a UKF works well to handle large initial attitude errors of SDINS and the alignment error attitude estimation performance are quite improved.
뱅크턴하는 항체에 대한 GPS를 이용한 SDINS의 자세 오차 추정 향상
유해성(Haesung Yu),유기정(Ki-Jeong Yoo),김현석(Hyun-Seok Kim),이윤선(Youn Seon Lee),박흥원(Heung-Won Park) 한국항공우주학회 2011 韓國航空宇宙學會誌 Vol.39 No.2
뱅크턴을 수행하는 항공기에 운용되는 관성항법장치의 특정 자이로 비정렬 오차가 수직축 자세오차를 연속적으로 증가시키는 현상에 대해서 분석을 수행하고, 이 자아로 비정렬 오차를 제거하기 위해 GPS을 결합한 INS/GPS 시스템에 대해서 새로운 비정렬 모델링 방법을 제시하고, 그 성능 향상을 시뮬레이션을 통해 제시한다. An approach to improve the performance of SDINS and GPS integrated system for bank-to-turn flight vehicles is described. Then, it is shown through the simulation that a specific gyro misalignment error results in an increased heading error of SDINS. A new modelling method is presented herein for identifying of sensor and attitude error. The main advantage of the proposed method is that it not only estimates the gyro misalignment error of SDINS, but also improves estimate performance of heading error of SDINS in the presence of the gyro misalignments.
링레이저 자이로 기반 관성항법장치와 위성항법장치의 강결합 방식 시스템 구현
유해성(Haesung Yu),박상은(Sang Eun Park),정진섭(Jinseob Jeong),박흥원(Heung-Won Park) 한국항공우주학회 2013 韓國航空宇宙學會誌 Vol.41 No.2
항공기에 탑재되어 운용되는 링레이저 자이로 기반 스트랩다운 관성항법장치(SDINS)와 위성항법장치(GPS)의 결합 시스템의 실시간 구현에 있어서 설계시 고려해야할 문제에 대해서 살펴본다. SDINS/GPS 결합 시스템의 실시간 구현시, 레버암, 측정치 획득 및 오차 보상 외에, 링 레이저 자이로 기반의 SDINS의 특성을 고려해야만 한다. 뱅크턴을 반복적으로 수행하는 항공기에서 발생하는 누적 수직축 자세 오차를 추정하기 위해, 자이로의 비정렬이 모델링된 모델을 구현한다. 항공기 탑재 시험을 통해 수직축 자세 오차의 누적 문제 및 실시간 구현 상의 문제를 해결하고, 자세 오차 추정 성능 향상 결과를 살펴본다. This paper explores a real-time system implementation to couple tightly StrapDown Inertial Navigation System(SDINS) and Global Positioning System(GPS) mounted on the aircraft. When implementing the SDINS/GPS coupled system in real-time processor, we have to deliberate SDINS’s unique characteristics based on the ring laser gyro, and besides, lever-arm, measurements, and error compensation method. The novel modeling method is applied to system the misalignment error term of gyro to estimate the cumulative heading attitude errors while the aircraft banking to turn repeatedly. Captive Flight Test results show that the proposed modeling strategy has good performance.
항공기 Run-up 진동 환경에서의 관성항법장치 초기 정렬 방법 설계 및 평가
유해성(Haesung Yu),이인섭(Inseop Lee),오주현(JuHyun Oh),김천중(CheonJoong Kim),박흥원(Heung-won Park) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.18 No.1
Inertial Navigation Systems (INS) are widely used as the main navigation device for aircraft. To get the initial attitude, the INS requires the initial alignment before navigation starts. An aircraft also needs an engine test procedure that cause some vibrations before flight. An INS can`t be aligned in a vibration environment so the initial alignment is performed before the aircraft engine test. Therefore, the initial alignment time of an INS has been a major factor in limiting an aircraft`s takeoff response time. In this paper, we designed an initial alignment algorithm that can be executed even in disturbances such as aircraft run-up. We demonstrated verification of the algorithm that is embedded on the real INS and testing methods to evaluate the alignment of the INS. We also analyzed the test results of the proposed initial alignment algorithm that is performed during a real aircraft run-up.
완성 유도탄 탑재장비의 소프트웨어 업그레이드를 위한 MIL-STD-1553B 기반 간접적 데이터 전송 기술
김기표,유해성,이헌철,윤석재,안기현,우덕영,Kim, Kipyo,Yu, Haesung,Lee, Heoncheol,Yun, Seokjae,Ahn, Keehyun,Woo, Deogyoung 한국군사과학기술학회 2016 한국군사과학기술학회지 Vol.19 No.1
This paper addresses the problem of the software update or upgrade of embedded equipments on a missile assembly with booster. Because the embedded equipments are assembled delicately and closely one another with various communication and power cables, they should be very carefully disassembled to directly upgrade the software of a certain embedded equipment. This may cause not only the costs for disassembly and reassembly but also additional tests to verify the completeness of the reassembled missile as a missile assembly with booster. This paper presents an indirect data transfer technique based on MIL-STD-1553B through Guidance Control Unit to easily upgrade the software of other equipments without any additional costs caused by disassembly and reassembly. The presented technique was successfully applied to the software upgrade of various equipments on real missile assembly with booster.