• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.6
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• pp.814-819
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• 2010

This paper is presented to study the error minimization of angular velocity for AGV(autonomous ground vehicle). The error minimization of angular velocity is related to localization technique which is the most important technique for autonomous vehicle. Accelerometer, yaw gyro and electronic compass have been used to measure angular velocity. And methods for error minimization of angular velocity have been actively studied through probabilistic methods and sensor fusion for AGVs. However, those sensors still occure accumulated error by mathematical error, system characters of each sensor, and computational cost are increased greatly when several sensor are used to correct accumulated error. Therefore, this paper studies about error minimization of angular velocity that just uses encoder and gyro. To experiment, we use autonomous vehicle which is made by ourselves. In experimental result, we verified that the localization error of proposed method has even less than the localization errors which we just used encoder and gyro respectively.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.10
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• pp.64-76
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• 1998

In this paper, we propose the dynamic modeling, path planning and tracking algorithms of 4-wheeled 2-d.o.f.(degree of freedom) mobile robot(WMR). The gaussian functions are applied to design the smooth path of WMR. To calculate the WMR position in real time, we use three components of inertial measurement units(IMU). These units have initial error because of the rotation rate of earth, gravity acceleration and so on. Therefore we derive the initial error model of IMU, and compare the fitness diagnosis about probability characteristics of real data adn estimated data. The performance of IMU with error model and Kalman filter is compared to that without filter and error model. The simulation results show that the proposed dynamic model, path planning and tracking algorithms are more useful than the conventional control algorithm.

• Current Industrial and Technological Trends in Aerospace
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• v.8 no.2
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• pp.76-85
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• 2010

This paper discusses recent development trends of fiber optic gyroscope (FOG) in space application. Fiber optic gyroscope utilizes Sagnac effect to measure the angular rate of a rotating object in space. Having a rather short development history compared to ring laser gyroscope (RLG), the fiber optic gyroscope, owing to the emerging technologies in fiber optic society and the digital signal processing technique, reveals itself as a noteworthy replacement of the ring laser gyroscope in the space mission. This paper summarizes the current trends of fiber optic gyroscope based on the actual products commercialized in the market over the last decades, while presenting the future development trends of the fiber optic gyroscope in the space exploration.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.507-512
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• 1987

Input/output equations in SDINS IMU are modeled from survey of IMU data flow. Given without precise equipments which can generate acceleration and angular velocity, a simple method is derived to calibrate the parameters of i/o eqijations. Also in order to upgrade ins performance, methods to estimate variant magnitudes of time variant parameters are surveyed.

• Journal of the Korea Convergence Society
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• v.11 no.3
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• pp.119-126
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• 2020

The purpose of this study is to identify trends in the type and method of Inertial Measurement Unit (IMU) by investigating studies on the type and method of convergence study of the IMU by systematic review. The study was conducted using PRISMA (Preferred Reporting Items for Systematic Reviews and Meta-Analyses) guidelines. 23 studies that meet the selection criteria were selected from 630 studies identified by three databases. As a result of this study, showed that various research using IMU was being conducted around the world, and the type of IMU was strap, full body suit, belt, wrist watch, shoes and glove. Among them, the number of strap-type IMUs was the largest at 11. The IMU's strengths were simplicity, real-time data collection and ease of application, which were used as measurement methods such as task, walking, and range of joint. The result of this study is expected to be used as basic data for experts in the medical and rehabilitation fields that conduct IMU research.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2006.05a
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• pp.343-346
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• 2006

스마트 홈서비스가 이루어질 앞으로의 가정에서는 거주자의 편리를 추구하는 다수의 가전기기와 다양한 장치를 통해 여러 형태의 서비스가 제공된다. 그 환경의 중심에서 사용자는 무엇보다 손쉽고 편리하게 이들을 시용할 수 있어야 한다. 기존에는 사용자가 쉽게 휴대할 수 있는 소형 컴퓨터, PDA, 휴대폰을 이용해 스마트 홈서비스를 제어하는 연구가 이루어지고 있다. 하지만 이들을 사용하는 것은 복잡하면서 전문적인 지식이 필요할 수 있으며 항상 결에 두어야 한다는 불편함이 있을 수 있다. 이에 본 논문에서는 관성센서를 이용한 동작인식 시스템을 개발하였다. 이 시스템은 자이로 센서와 가속도 센서를 사용하며 3축의 자이로(각속도) 및 가속도를 측정할 수 있는 센서 모듈과 측정된 데이터를 이용해서 동작 패턴을 분류해 주는 알고리즘으로 구성된다. 차후에 홈 네트워크 시스템과의 결합을 통해 미리 지정된 간단한 손동작만으로 여러 가전기기를 제어할 수 있을 것이며 특히 노약자나 장애인들이 기존의 리모트 컨트롤 등의 복잡한 제어 장치를 대신해서 간편하고 손쉽게 사용할 수 있을 것이다.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2017.11a
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• pp.142-143
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• 2017

증강 현실에 대한 관심이 높아지면서, 물체를 자연스럽게 증강시키는 기술이 주목받고 있다. 그 방법 중 하나는 실제 물체처럼 수평면 위에 증강시키는 것이다. 본 논문에서는 카메라 영상과 관성 측정 장치(IMU: inertial measurement unit)를 사용해 물체를 증강시키기 위한 수평면을 찾는 방법을 제안한다. 우선, 수평면을 결정하는 데 기준이 될 3 차원 공간 좌표를 계산하기 위한 방법을 설명한다. 그리고 계산된 좌표들을 바탕으로 수평면을 찾는 방법을 제시한다. 제안한 방법을 사용하면 지면 방향을 이용하기 때문에 증강된 물체가 실제 물체처럼 서있게 할 수 있다.

• Journal of the Korea Computer Graphics Society
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• v.19 no.4
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• pp.13-22
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• 2013

A motion capture system is widely used in movies, computer game, and computer animation industries because it allows for creating realistic human motions efficiently. The inertial motion capture system has several advantages over more popular vision-based systems in terms of the required space and cost. However, it suffers from low accuracy due to the relatively high noise levels of the inertial sensors. In particular, the accelerometer used for measuring gravity direction loses the accuracy when the sensor is moving with non-zero linear acceleration. In this paper, we propose a method to remove the linear acceleration component from the accelerometer data in order to improve the accuracy of measuring gravity direction. In addition, we develop a simple method to calibrate the joint axis of a link to which an inertial sensor belongs as well as the position of a sensor with respect to the link. The calibration enables attaching inertial sensors in an arbitrary position and orientation with respect to a link.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.4
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• pp.374-380
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• 2012

In guided missile systems, reducing terminal-position error is the primary objective of the inertial navigation system. As a seeker is used to sense and track a target, the critical function of the inertial navigation system is to provide the seeker with accurate missile attitude information and help the seeker to keep tracking a target continuously. As inertial sensor body and missile body alignment errors are taken into account, it is desirable to minimize the alignment errors between the missile seeker and the attitude of inertial navigation system. Among the alignment errors, this paper addresses the methods of measuring and compensating misalignment between inertial sensor body and housing frame and shows test results of several experiments.

• Journal of Advanced Navigation Technology
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• v.28 no.4
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• pp.379-385
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• 2024

INS(inertial navigation system) aligns itself using gravity and Earth's rotational rate from accelerometers and gyro sensors when stationary. Typically, ZUPT(zero velocity update), which is based on a linear error model Kalman filter, is used when it is stationary. However, such algorithms assume stationary conditions, leading to increased alignment errors or filter divergence during maritime mooring due to wave-induced motion. This paper designs a mooring alignment algorithm for maritime platforms using a Kalman filter, which uses large heading angle error model and an initial position correction technique. And it is validated by simulation. Furthermore, it is confirmed that applying this to a rotational INS dramatically improves performance through the principle of bias cancellation.