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수직이착륙기 종축 제어기 설계에 적용된 입자군집 최적화 알고리즘과 KASS 시스템에 대한 고찰
이병석,최종연,허문범,남기욱,이준화,Lee, ByungSeok,Choi, Jong Yeoun,Heo, Moon-Beom,Nam, Gi-Wook,Lee, Joon Hwa 한국항공운항학회 2016 한국항공운항학회지 Vol.24 No.4
In the case of hard problems to find solutions or complx combination problems, there are various optimization algorithms that are used to solve the problem. Among these optimization algorithms, the representative of the optimization algorithm created by imitating the behavior patterns of the organism is the PSO (Particle Swarm Optimization) algorithm. Since the PSO algorithm is easily implemented, and has superior performance, the PSO algorithm has been used in many fields, and has been applied. In particular, PSO-SAPARB (PSO with Swarm Arrangement, Parameter Adjustment and Reflective Boundary) algorithm is an advanced PSO algorithm created to complement the shortcomings of PSO algorithm. In this paper, this PSO-SAPARB algorithm was applied to the longitudinal controller design of a VTOL (Vertical Take-Off and Landing) aircraft that has the advantages of fixed-wing aircraft and rotorcraft among drones which has attracted attention in the field of UAVs. Also, through the introduction and performance of the Korean SBAS (Satellite Based Augmentation System) named KASS (Korea Augmentation Satellite System) which is being developed currently, this paper deals with the availability of algorithm such as the PSO-SAPARB.
TDOA기법 기반의 다중 재머 위치 추정 알고리즘 설계
강희원,임덕원,허문범,Kang, Hee Won,Lim, Deok Won,Heo, Moon-Beom 한국군사과학기술학회 2012 한국군사과학기술학회지 Vol.15 No.6
In case that multiple jammers are transmitting the signals which are the same type a general algorithm based on TDOA method cannot estimate the positions of multiple jammers because there are many TDOA measurements including true and false values. This paper, therefore, designs a new algorithm based on TDOA method to localize multiple jammers. In this algorithm, TDOA measurements are obtained by rotating the reference sensor, and then the positions of multiple jammers can be estimated by detecting congregated point among the multiple estimated positions from TDOA measurements. Through computer simulations, it is verified that this algorithm localizes the multiple jammers well. The performance of the algorithm are also analysed by changing the distance between sensors and jammer, and sampling frequency.
이중현,이동욱,허문범,Lee, Jung-Hyun,Lee, Dong-Wook,Heo, Moon-Beom 한국융합신호처리학회 2012 융합신호처리학회 논문지 (JISPS) Vol.13 No.4
The standard wave height measurement system is usually based on spectrum analysis for measuring wave height. The spectrum analysis is complicated because of the FFT, and the FFT is not for real time processing since it requires the saved data segments. In this paper, we carried out the performance evaluation of real-time and simpler wave height measurement system using the kalman filter and inertial sensors. The kalman filter theory is complicated, but its algorithm is simpler than the FFT and the kalman filter is used to estimate wave height by integrating acceleration data. But the accumulated error is occurred when the acceleration data is integrated. We developed the algorithm using the wind wave characteristic to decrease the accumulated error. In this paper, the performance evaluation of the wave height measurement system is carried out for various wind wave conditions. Through the experiments, we verified that it shows high measurement performance with the 3.5% margin of error in wind wave condition. 일반적인 파고 측정 시스템은 스펙트럼 분석을 통하여 파고를 측정한다. 하지만 스펙트럼 분석은 fast fourier transform(FFT)을 이용하기 때문에 구조가 복잡하며, 또한 FFT를 사용하기 위해서는 먼저 데이터를 저장해야 하기 때문에 실시간 처리가 어렵다. 본 논문에서는 칼만필터와 관성센서를 사용하여 실시간으로 데이터를 처리하는 알고리즘을 개발하고 성능을 평가하였다. 칼만필터 이론은 비교적 복잡한 알고리즘이지만 FFT를 사용하는 것에 비하여 간단하며, 가속도 데이터를 적분하여 위치를 효율적으로 추정할 수 있다. 하지만 가속도 데이터를 적분할 때 오차의 누적이 발생되는데, 파고의 특징을 이용한 알고리즘을 개발하여 누적오차 문제를 해결하였다. 본 논문에서는 다양한 조건의 해파를 모델링하여 성능평가를 수행하였으며, 실험을 통하여 풍랑측정에 한해서 평균 오차율 3.5%로 우수한 측정 성능을 확인할 수 있었다.
위성항법시스템을 이용한 연결식 차량의 잭나이핑 현상 예방을 위한 축소차수 상태관측기 설계
이병석(ByungSeok Lee),허문범(Moon-Beom Heo) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.7
This paper deals with ROLSO (Reduced Order Luenberger State Observer) design to prevent jackknifing phenomenon of articulated vehicles consisting of the tractor and semi-trailer by using GPS. In addition, by applying the regulator system using ROLSO feedback system, simulation’s result presents that articulated vehicle’s states are stabilized than the human’s PR time (Preception Response time) rapidly. This simulation verifies that the automatic control of articulated vehicle’s can be applied for the accident prevention for the time that the driver is unable to manage with the sudden accident. For this simulation, by using the equation of planar motion, the modeling of the articulated vehicle was performed. This modeling was expressed in the state space model. And FOLSO (Full Order Luenberger State Observer), ROLSO were designed by using the state space model of an articulated vehicle’s dynamics.
육상교통 항법을 위한 네트워크기반 위성항법보정 시스템의 구성
손민혁,손은성,이은성,허문범,남기욱,Son, Minhyuk,Son, Eunseong,Lee, Eunsung,Heo, Moon-Beom,Nam, Gi-Wook 한국항공운항학회 2013 한국항공운항학회지 Vol.21 No.4
In this paper, a configuration procedure of a transportation infrastructure system for GNSS based very precise real-time positioning is proposed. This infrastructure system consists of several receiving station, a central station, and communication sub-systems. The required performance, design, implementation and verification of each sub-system are explained respectively. The required performance can be broken down into accuracy, integrity, stability, processing time. The design of the each sub-system is performed in accordance with the required performance and each sub-system is built with regard to the design. Lastly the implemented system is verified in comparison with the required performance.
허윤정(Youn-Jeong Heo),허문범(Moon-Beom Heo),심은섭(Eun-Sup Sim) 한국항공우주연구원 2009 항공우주산업기술동향 Vol.7 No.1
1970년대 이후로 지금까지 450여개의 원자 주파수 표준기 (또는 원자시계)가 통신이나 과학 실험의 목적으로 우주로 발사되었다. GPS 위성의 경우 루비듐 주파수 표준기와 세슘 주파수 표준기가 탑재되어 사용자들에게 정밀한 위치와 시각을 제공하고 있다. 원자 주파수 표준기 개발 기술이 향상됨에 따라 성능이 뛰어난 주파수 표준기들이 우주에서 동작하고 있고, 이는 위성의 수명이나 신뢰도를 높일 수 있다. 본 논문에서는 원자 주파수 표준기의 기본 원리 및 특성에 대해 기술하고, 위성에 탑재되어 있는 우주용 원자 주파수 표준기 종류에 대해서 소개한다. 또한 GPS 항법위성의 기준이 되고 있는 GPS 시간척도와 이를 활용한 응용분야에 대해서 기술한다. There have been about 450 atomic frequency standards (or atomic clocks) launched into orbit for the use on communications and scientific payloads since 1970’s. GPS satellites carry on-board Rubidium and Cesium atomic frequency standards which are utilized for the precise positioning and timing. The evolving technologies of space qualified atomic frequency standards have enhanced in the performance, reliability, and lifetime of satellites. In this paper we describe the fundamentals and performance of the atomic frequency standards, and introduce the atomic frequency standards which are presently on-board various satellites systems. We also present the GPS time scale and its applications.