그림 1. 실험에 사용된 수조 및 무인 운송체의 궤적 Fig. 1 Test tank for experiment and trajectory of unmanned vehicle navigation
그림 2. 시간에 따른 편차 추정 결과 Fig. 2 Estimated bias in time
그림 3. xy평면에서의 자기장 측정값 편향 Fig. 3 Shift of magnetic field measurements in xy plane
그림 4. xz평면에서의 자기장 측정값 편향 Fig. 4 Shift of magnetic field measurements in xz plane
그림 5. 롤 추정 오차 Fig. 5 Error in estimated roll
그림 6. 피치 추정 오차 Fig. 6 Error in estimated pitch
그림 7. 요 추정 오차 Fig. 7 Error in estimated yaw
그림 8. 추정된 xy평면 궤적 Fig. 8 Estimated trajectory in xy plane
그림 9. 추정된 xz평면 궤적 Fig. 9 Estimated trajectory in xz plane
표 1. UKF방법을 사용한 편차 추정 알고리즘 Table 1. Bias estimation algorithm using UKF
표 2. 실험에서 사용된 FOG센서의 사양 Table 2. Specification of FOG used in the experiment
표 3. 실험에서 사용된 AHRS센서의 사양 Table 3. Specification of AHRS used in the experiment
표 4. 측정된 자기장 비교 Table 4. Comparison of measured magnetic field
표 5. 추정된 자세에 대한 오차 통계 Table 5. Error statistics of estimated attitude
표 6. AHRS센서에서 측정된 자세에 대한 오차통계 Table 6. Error statistics of AHRS attitude
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