• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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• v.7 no.1
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• pp.177-186
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• 2017

Recently, Autonomous vehicles are getting hot attention. Amazon, the biggest online shopping service provider is developing a delivery system that uses drones. This kinds of platforms are need accurate attitude information for navigation. In this paper, a structure design of AHRS using low-cost inertia sensor is proposed. To estimate attitudes a Kalman filter which uses a quaternion based dynamic model, bias-removed measurements from MEMS Gyro, raw measurements from MEMS accelerometer and magnetometer, is designed. To remove bias from MEMS Gyro, an additional Kalman filter which uses raw Gyro measurements and attitude estimates, is designed. The performance of implemented AHRS is compared with high price off-the-shelf 3DM-GX3-25 AHRS from Microstrain. The Gyro bias was estimated within 0.0001[deg/s]. And from the estimated attitude, roll and pitch angle error is smaller than 0.2 and 0.3 degree. Yaw angle error is smaller than 6 degree.

• Current Research on Agriculture and Life Sciences
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• v.32 no.3
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• pp.159-163
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• 2014

Agricultural unmanned helicopters have become a new paradigm for aerial application. Yet, such agricultural helicopters require easy and affordable attitude control systems. Therefore, this study presents an affordable attitude measurement system using a DCM (direction cosine matrix) algorithm that would be applied to agricultural unmanned helicopters. An IMU using a low-cost MEMS and an algorithm to estimate the attitude of the helicopter were applied in a gimbals structure to evaluate the accuracy of the attitude measurements. The estimation errors in the attitude were determined in comparison with the true angles determined by absolute position encoders. The DCM algorithm and sensors showed an accuracy of about 1.1% for the roll and pitch angle estimation. However, the accuracy of the yaw angle estimation at 3.7% was relatively larger. Such errors may be due to the magnetic field of the stepping motor and encoder system. Notwithstanding, since the intrinsic behavior of the agricultural helicopter remains steady, the determination of attitude would be reliable and practical.

• Journal of the Institute of Convergence Signal Processing
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• v.21 no.3
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• pp.101-106
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• 2020

The utilization of virtual reality is increasing not only in games but also in medical care such as rehabilitation. Due to the convenience, the motion of the upper limb is detected using a non-contact method using video or a handheld type mouse, etc. In this paper, we implemented a glove which can measure finger movements and upper limb movements by using flex sensors whose resistance value changes according to the degree of folding and inertial sensors which can obtain direction information in space. We showed the upper arm movements including finger movements with signals obtained from the implemented glove on the open software platform, Processing. The sensitivity of each finger movement was 0.5deg, and the sensitivity of the upper limb motion was 0.6deg.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1254-1255
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• 2011

최근 무선통신기반 열차제어시스템의 국산화 개발이 진행 중에 있으며, 이동폐색 및 열차간격의 효율적인 제어를 위해서는 열차에 서 직접 열차의 이동위치와 속도를 정확하게 실시간으로 파악할 수 있어야 한다. 하지만 기존 철도시스템에서는 열차의 위치 및 속도확인을 위해 궤도회로와 타코메터를 이용하고 있으며, 효율적인 열차제어를 위해 지상설비의 도움없이 안전하고 정확한 열차위치정보의 확보가 필요하다. 따라서 본 논문에서는 위성항법수신기, 관성센서, 도플러레이더센서, 타코메터와 같이 열차에 탑재 가능한 위치 및 속도센서를 통합 적용하여 단독으로 열차 위치 및 속도파악이 가능한 차상기반 열차위치검지 장치를 구성하고, 한국형 틸팅열차 탑재시험을 통해 위치정확성을 평가하고 철도운영 환경에서의 적용성을 확인한다.

• The Journal of the Korea institute of electronic communication sciences
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• v.11 no.2
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• pp.139-144
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• 2016

This paper provides an overview of recent trends in sensor fusion technologies for vehicle positioning. The GNSS by itself cannot satisfy precision and reliability required by autonomous driving. We survey sensor fusion techniques that combine the outputs from the GNSS and the inertial navigation sensors such as an odometer and a gyroscope. Moreover, we overview landmark-based positioning that matches landmarks detected by a lidar or a stereo vision to high-precision digital maps.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.2
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• pp.190-195
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• 2007

As Ubiquitous era comes, it became necessary to construct environment which can provide more useful information to human in the spaces where people live like homes or offices. On this account, network of the peripheral devices of Ubiquitous should constitute efficiently. For it, this paper researched human pattern by classified motion recognition using sensors module data. (This data processing by Neural network and fuzzy algorithm.) This pattern classification can help control home network system communication. I suggest the system which can control home network system more easily through patterned movement, and control Ubiquitous environment by grasp human's movement and condition.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2012.06a
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• pp.135-135
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• 2012

USN(Ubiquitous Sensor Network)을 이용한 실내 위치 인식 기술은 주요한 연구 분야이며 산업에 미치는 영향이 매우 크다. 좁은 복도 환경에서는 삼변측위를 이용하지 않고 이변측위만 이용하더라도 Mobile Node의 위치 측정이 가능하다. 하지만 이변측위를 이용할 경우 Reference Node 사이의 간격이 멀어 질수록 Mobile Node의 위치 정보 수신율이 떨어져 Mobile Node의 위치를 표시할 수 없게 된다. 따라서 본 연구에서는 관성센서 및 초음파 센서를 이용하여 위치 정보의 수신이 이루어지지 않는 상황에서도 Mobile Node의 위치를 표시할 수 있게 구성하고 실험을 통하여 검증하였다.

• Aerospace Engineering and Technology
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• v.10 no.2
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• pp.1-10
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• 2011

This is a comparative study of three inertia navigation units and focuses on the verification of reliability about GPS/INS for the SmartUAV(DGNS). Those GPS/INS have been tested using a manned aircraft and an automobile. The comparative aspect of units include details about the GPS positions and the inertia sensor performance. With the flight scenario, the DGNS guarantees the reliability of the navigation operation and performs the flight test for the development of the SmartUAV.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.7
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• pp.673-683
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• 2010

This study investigates Terrain Aided Inertial Navigation(TAIN) which consists of Inertial Navigation System (INS) with the optical sensor for precise planetary landing. Image processing is conducted to extract the feature points between measured terrain data and on-board implemented terrain information. The navigation algorithm with Iterated Extended Kalman Filter(IEKF) can compensate for the navigation error, and provide precise navigation information compared to single INS. Simulation results are used to demonstrate the feasibility of integration to accomplish precise planetary landing. The proposed navigation approach can be implemented to the whole system coupled with guidance and control laws.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.10a
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• pp.227-229
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• 2016

Drone is demanding more than detaile hardware and software systems because Drone have characteristic flying. If Drone is a plane crash. they have risk of personal injury and property damage. now Drone control core system is preventing a plane crash and flight unsafe flying. The key is to help flying to convert for various external environment. This research prevent a plane crash that system planning to treat six-senser-figure doubly is IMU trouble or a trouble caused by a passing parameters and IMU install to help stability in flying.