• Journal of the Korea Society of Computer and Information
• /
• v.12 no.5
• /
• pp.83-92
• /
• 2007

In this paper, we present a design and implementation of three dimensional pointing device using Inertial Navigation System(INS) that acquires coordinates and location information without environmental dependancy. The INS measures coordinates based on the data from gyroscope and accelerometer and corrects the measured data from accelerometer using Kalman-Filter. In order to implement the idea of three dimensional pointing device, we choose a three dimensional Space-recognition mouse and use RFIC wireless communication to send a measured data to receiver for printing out the coordinate on display equipment. Based on INS and Kalman-Filter theoretical knowledge, we design and implement a three dimensional pointing device and verified the usability as an input device that can capture a human's move. also, we describe the applicability of this device in ubiquitous computing environment.

• ICROS
• /
• v.3 no.2
• /
• pp.51-57
• /
• 1997

이 글에서는 다음의 내용을 다루었다. 1. 기본원리 및 구성 2. 자이로 3. 복합 항법장치 4. 발전추세 및 전망

• Journal of Advanced Navigation Technology
• /
• v.23 no.3
• /
• pp.245-250
• /
• 2019

Inertial navigation system has navigation errors because of the error of inertial measurement unit (IMU) and misalignment over time. In order to solve this problem, aided navigation system is performed using global navigation satellite system (GNSS), speedometer, etc. The inertial navigation system equipped with underwater vehicle mainly uses speedometer and performed aided navigation because satellite signals do not pass through underwater. There are DVL, EM-Log, and RPM in the speedometer, and the sensors are applied according to the system environment. This paper describes velocity aided navigation using RPM of inertial navigation system operating in high speed and deep water environment. In addition, we proposes an algorithm to compensate the limit of RPM with straight direction and the current velocity error. There are results of monte-calo simulation to prove performance of the proposed algorithm.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.39 no.8
• /
• pp.788-795
• /
• 2011

In this paper, we present the requirements specification to develop the small ring laser gyroscope(RLG) which is applicable to the medium-grade inertial navigation system(INS) widely used as a main navigation system. To this end, first we analyse the performance specifications of RLG which is needed to configure the medium-grade INS and then we present the design results of RLG to meet the performance specifications, based on the overseas technology survey and the theoretical analysis. It is also shown in this paper what technology is required to develop a small RLG.

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

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.41 no.2
• /
• pp.134-141
• /
• 2013

This paper explores a real-time system implementation to couple tightly StrapDown Inertial Navigation System(SDINS) and Global Positioning System(GPS) mounted on the aircraft. When implementing the SDINS/GPS coupled system in real-time processor, we have to deliberate SDINS's unique characteristics based on the ring laser gyro, and besides, lever-arm, measurements, and error compensation method. The novel modeling method is applied to system the misalignment error term of gyro to estimate the cumulative heading attitude errors while the aircraft banking to turn repeatedly. Captive Flight Test results show that the proposed modeling strategy has good performance.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.40 no.12
• /
• pp.2520-2527
• /
• 2015

Position information is important to carry out military operations. In general, GPS is used to estimate position. However, GPS is vulnerable to jamming due to the low received signal strength, therefore GPS can be easily jammed. The relative navigation is an auxiliary navigation system defined in JTIDS. When GPS is jammed, the relative navigation requires ground reference units on the ground to operate accurately. If the ground reference unit does not exist, nodes operated by the relative navigation depend on the inertial navigation system to identify their position. However, this positioning scheme based on only INS causes accumulative position error, therefore the nodes cannot identify their position accurately for a long time. In this paper, we propose an alternative to reduce position error generated by depending inertial navigation system. In order to verify that the performance of proposed scheme is better than that of the existing scheme, various simulations are conducted.

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

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.45 no.1
• /
• pp.36-45
• /
• 2017

Abstract It is necessary to verify the properties of an inertial measurement unit in the flight environment before applying to military applications. In this paper, we presented a new approach to verify an inertial measurement unit(IMU) in regard to the performance and the robustness in flight environments for the high-dynamics vehicle systems. We proposed two methods for verification of an IMU. We confirmed normal operation of an IMU and properties in flight environment by using direct comparison method. And we proposed real time multi-navigation system to complement the first method. The proposed method made it possible to compare navigation result at the same time. Therefore, it is easy to analyze the performance of an inertial navigation system and robustness during the vehicle flight. To verify the proposed method, we carried out a flight test as well as an experimental test of flight vibration on the ground. As a result of the experiment, we confirmed flight environment properties of an IMU. Therefore, we shows that the proposed method can serve the reliability improvement of IMU.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2010.10a
• /
• pp.1-3
• /
• 2010

수중 무인항체(Autonomous Underwater Vehicle, AUV)를 고정밀, 고위험 임무수행 분야에 이용하기 위해서는 연속적이고 정확한 항법정보를 제공하는 기술이 반드시 필요하다. 특히, 최근에는 항공분야에서 국내외적으로 연속적이고 정확한 항법정보를 제공하기 위하여 여러 가지 센서를 결합한 통합 항법시스템에 관한 연구가 활발하며, GPS나 음향장치를 관성센서와 통합하는 방법이 대표적이다. 하지만 수중 무인항체에 경우는 해수면 노출로 인한 탐사시간 장기화와 음향장치 설치 및 회수의 한계로 인하여 GPS나 음향장치 이외에 센서를 이용한 통합 항법시스템의 필요성이 커지고 있다. 본 논문에서는 자율성이 높으면서, 적은 비용으로 설치가 가능한 영상센서를 이용하여 항법성능을 효과적으로 증대시키는 Vision/INS 통합 항법을 제안한다. 제안한 통합 항법알고리즘은 외부표정요소 직접결정기법을 이용하여 영상 데이터로부터 항체의 위치와 자세를 추정하고, 추정된 결과를 INS의 추정치와 비교한다. 그리고 추정한 위치와 자세오차를 입력으로 칼만필터를 구동하도록 설계하였다. 모의실험을 통해 제안한 방법의 유효성을 확인하였다.