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링 레이저 자이로 기반 회전형 관성항법장치를 위한 6-자세 자이로 바이어스 교정 방법
유해성,김천중,이인섭,오주현,성창기,이상정 한국군사과학기술학회 2019 한국군사과학기술학회지 Vol.22 No.2
The inertial sensor errors in SDINS(Strapdown Inertial Navigation System) can be compensated by rotating the inertial measurement unit and it is called RINS(Rotational Inertial Navigation System). It is assumed that the error of the inertial sensor in RINS is a static bias. However, the error of the inertial sensor actually developed and produced is not a static bias due to the change of the temperature applied to the sensor and the influence of the earth's gravity acceleration. In this paper, we propose a six-position gyro bias calibration method to evaluate the gyro bias required for RINS and present the test results of applying it to a ring laser gyro inertial navigation system under development.
UKF를 이용한 관성항법장치의 초기 정렬 구현 및 평가
유해성,김천중,오주현,이인섭,박흥원 한국항공우주학회 2013 한국항공우주학회 학술발표회 논문집 Vol.2013 No.11
항법 축에서의 가속도를 적분하는 스트랩다운형 관성항법장치는 관성 측정축(body frame)과 항법축(Local-Level frame)과의 초기 자세를 필요로 한다. 이러한 초기 자세를 구하는 과정을 초기 정렬이라고 한다. 본 논문에서는 비선형성이 큰 동역학 모델에 대해서 Extended Kalman Filter(EKF) 보다 우수하다고 알려진 Unscented Kalman Filter(UKF)를 초기 정렬 과정에 적용하여 본다. 링 레이저 기반의 관성항법장치에 대해서 항공기 이륙전 진동 환경에서 초기 정렬을 수행하여 그 유용성을 검증한다. StrapDown Inertial Navigation Systems(SDINS) is integral to the acceleration on the Navigation Frame requires an attitude between body frame and Local-Level Frame. This process for calculating initial attitude is called intial alignment. Unscented Kalman Filter(UKF) adapts to initial alignment process in this paper. UKF is more advantageous than Extended Kalman Filter(EKF) on Nonlinear Dynamic Systems. For applying the UKF, the Characteristics and usefulness of UKF is evaluated on the SDINS based on the Ring Laser Gyro.
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.
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.
항체의 비행거리 정보를 이용한 운항 중 정렬 기법 연구
유해성,Yu, Hae-Sung 한국군사과학기술학회 2005 한국군사과학기술학회지 Vol.8 No.3
This paper presents the new in-flight alignment method using the flight distance of vehicle in order to improve the performance of the heading error estimation. In the proposed method, the Kalman filter having the difference between GPS and SDINS position as measurements is used for levelling of SDINS and heading error is estimated utilizing the flight distance information. It is shown in the simulation results that the in-flight method proposed in this paper has the high accuracy in heading error estimation and the heading error can be very quickly estimated at the high speed vehicle, compared with the existing method using the Kalman filter.