• Journal of Advanced Navigation Technology
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• v.16 no.5
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• pp.738-743
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• 2012

Kalman filter is generally used in INS/GPS integrated navigation filter. However, the INS with low performance inertia sensor can not find accurate azimuth in initial alignment stage because sensor noise level is too large compare to Earth rotation rate, therefore the performance and stability of Kalman filter can not be guaranteed. In this paper, the extended Kalman filter and particle filter combined filter structure which can be overcome large initial azimuth error is proposed.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.2
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• pp.218-226
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• 2016

In the original design of K2 tank the Vertical Sensor Unit(VSU) was mounted to measure the attitude of the main gun to enhance the hit probability. In this research, as a part of efforts to reduce the cost of K2, it was theoretically simulated and evaluated to use the data from Inertial Navigation System(INS) for the calculation of the gun attitude instead of the direct measurement using VSU. It was found that the negative effect of INS approach is negligible and the elimination of VSU is technically possible and beneficial to the system.

• Journal of the Korea Institute of Military Science and Technology
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• v.6 no.1
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• pp.21-29
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• 2003

The Strap Down Inertial Measurement Unit(SDIMU) is recently used for the sensor package of the modern underwater vehicles such as torpedoes and unmanned underwater-vehicles. For using SDIMU, an initial alignment must be carried out before the fire or navigation stage. The general initial alignment methods require that a mother vehicle Is a stationary condition or the Inertial Navigation System(INS) of vehicle is received the specific of data navigation from the mother vehicle. But an underwater vehicle dropped from aircraft is hard to satisfy above both necessary conditions of the general initial alignment. So, we suggest a new strap down initial alignment method of an underwater vehicle dropped from aircraft without using any aided sensors. The highlight point of this method is that a period of initial alignment is not before the fire but during running stage to fix alignment error. And we verify it by analyzing various data of S/W simulations, Hardware In the Loop Simulation(HILS) tests and sea trials.

• Journal of Space Technology and Applications
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• v.3 no.1
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• pp.58-71
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• 2023

This paper describes a navigation system design for horizontal position estimation using inertial measurement sensors and celestial navigation. In space, stars are widely spread objects in the celestial sphere and have been used mainly to obtain attitude information through star observation. However, it is also possible to obtain information about the horizontal position with the altitude of the star. It is called celestial navigation which is the same principle that former navigators used to locate themselves while sailing on the sea. In particular, in deep space where GPS is not available, it is important to obtain information on the location by making use of stars that are relatively easy to observe. Therefore, we introduce a navigation system that can estimate horizontal position and design two types of systems, loosely coupled and tightly coupled depending on how the measurements are utilized. It is intended to help in the future design of navigation system using celestial navigation by simulation studies that not only verify whether the system correctly estimates horizontal position but also comparing the performance of loosely and tightly coupled methods.

• Journal of Ocean Engineering and Technology
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• v.17 no.6
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• pp.83-90
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• 2003

This paper presents an underwater hybrid navigation system for a semi-autonomous underwater vehicle (SAUV). The navigation system consists of an inertial measurement unit (IMU), and a Doppler velocity log (DVL), accompanied by a magnetic compass. The errors of inertial measurement units increase with time, due to the bias errors of gyros and accelerometers. A navigational system model is derived, to include the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 20. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors, and correct the state equation when the measurements are available. Simulation was performed with the 6-d.o,f equations of motion of SAUV, using a lawn-mowing survey mode. The hybrid underwater navigation system shows good tracking performance, by updating the error covariance and correcting the system's states with the measurement errors from a DVL, a magnetic compass, and a depth sensor. The error of the estimated position still slowly drifts in the horizontal plane, about 3.5m for 500 seconds, which could be eliminated with the help of additional USBL information.

• Journal of the Korean Society of Marine Environment & Safety
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• v.19 no.6
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• pp.666-673
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• 2013

This paper proposes the performance evaluation test of attitude heading reference system (AHRS) suitable for small high speed autonomous underwater vehicle(AUV). Although IMU can provides the detail attitude information, it is sometime not suitable for small AUV with short operation time in view of price and the electrical power consumption. One of alternative for tactical grade IMU is the AHRS based micro-machined electro mechanical system(MEMS) which can overcome many problems that have inhibited the adoption of inertial system for small AUV such as cost and power consumption. A cost effective and small size AHRS which incorporates measurements from 3-axis MEMS gyroscopes, accelerometers, and 3-axis magnetometers has been developed to provide a complete attitude solution for AUV and the attitude calculation algorithm is derived based the coordinate transform equation and Kalman filter. The developed AHRS was validated through various performance tests as like the magnetometer calibration, operating experiments using land mobile vehicle and flight motion simulator (FMS). The test of magnetometer calibration shows the developed MEMS AHRS is robust to the external magent field change and the test with land vehicle proves the leveling error of developed MEMS AHRS is below $0.5^{\circ}/hr$. The results of FMS test shows the fact that AHRS provides the measurement with $0.5^{\circ}/hr$ error during 5 minutes operation time. These results of performance evaluation tests showed that the developed AHRS provides attitude information which error of roll and pitch are below $1^{\circ}$ and the error of yaw is below $5^{\circ}$ and satisfies the required specification. It is expected that developed AHRS can provide the precise attitude measurement under sea trial with real AUV.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.7
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• pp.647-654
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• 2010

In this study, an efficient ornithopter aerodynamic model, which is applicable to ornithopter wing design considering fluid-structure interaction or ornithopter flight dynamics and control simulation, was proposed and experimentally validated through the wind tunnel experiments. Due to the ornithopter aerodynamics governed by unsteady low Reynolds number flow, an experimental device was specially designed and developed. A part of the experimental device, 2-axis loadcell, was situated in the non-inertial frame; the dynamic calibration method was established to compensate the inertial load for pure aerodynamic load measurements. The characteristics of proposed aerodynamic model were compared with the experimental data in terms of mean and root-mean-square values of lift and drag coefficients with respect to the flow speed, flapping frequency, and fixed angle of attack.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.11
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• pp.981-988
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• 2016

Dynamometer is a device for testing the performance of the brake and it is composed of a test zone, the mechanical inertia zone, the electric motor and the control zone. Hybrid dynamometer is a way to compensate for the loss of mechanical inertia in accordance with the brake operation by using an electric motor to reduce the size of the mechanical inertia with the advantage that can be tested in the relatively small size of the mechanical inertia and low cost. In this paper, design the proper size of hybrid dynamometer in the laboratory level with the space constraints, analysed the effect of critical parameter on the braking performance of hybrid dynamometer such as changing the friction coefficient. With this study, could get the results of guideline to judge the poor friction material by measuring the torque of the electric motor to compensate the energy loss due to a reduced mechanical inertia.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.1355-1356
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• 2010

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.522-527
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• 1987

This paper describes the hardware of analog-to-digital converter to process the rate output of analog servo loop for the gyro rebalance of INS. The analog-to-digital converter is designed by voltage-to-frequency method which is generally used in INS, and this scheme fits well into the strapdown INS that requires the wide dynamic range and linearity. The output of the designed voltage to frequency converter is tested by computer through the counter and all the factors which affect the performance are considered.