• Journal of the Korea Institute of Military Science and Technology
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• v.21 no.6
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• pp.731-743
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• 2018

In this paper, a study result to decide the accuracy specifications of inertial sensors satisfying the performance requirements of SINS(ship's inertial navigation system) is proposed. To do this, the performance specifications of overseas SINS is surveyed and the detailed error analysis of SINS at stationary condition is performed. Also, a new performance index to indicate the performance of SINS is derived. Modelling and simulation results show that the accuracy specifications of inertial sensors to meet the performance requirements of SIGMA40XP, a typical overseas SINS, can be determined through the newly derived performance index in this paper.

• Korean Journal of Optics and Photonics
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• v.15 no.1
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• pp.68-73
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• 2004

Flexure measurement of ring laser gyro was investigated by using an interferometer. A two-beam interferometer of Fiezo-fringe pattern obtained the flexure angle in 1-gravity acceleration and the higher acceleration environments. These environments were made with the addition of dummy mass to the ring laser gyro axis. The flexure angle change for 1-gravity acceleration change was measured as 2.37 arcsec/g with low repeatability error of 0.01 arcsec/g. The laser navigation system consisting of 3 flexure-reduced ring laser gyros showed the improvement of flexure error.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.4
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• pp.518-524
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• 2011

This paper presents a study on the calibration of accelerometer data in the gyroscope free inertial navigation system(GFINS) using fuzzy inference system(FIS). The conventional INS(inertial navigation system) which can measure yaw rate and linear velocity using inertial sensors as the gyroscope and accelerometer. However, the INS is difficult to design as small size and low power because it uses the gyroscope. To solve the problem, the GFINS which does not have the gyroscope have been studied actively. However, the GFINS has cumulative error problem still. Hence, this paper proposes Fuzzy-GFINS which can calibrate the data of an accelerometer using FIS consists of two inputs that are ratio between linear velocity of the autonomous ground vehicle(AGV) and the accelerometer and ratio between linear velocity of the encoders and the accelerometer. To evaluate the proposed Fuzzy-GFINS, we made the AGV with Mecanum wheels and applied the proposed Fuzzy-GFINS. In experimental result, we verified that the proposed method can calibrate effectively data of the accelerometer in the GFINS.

• Journal of the Korea Institute of Military Science and Technology
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• v.22 no.2
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• pp.189-196
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• 2019

The inertial sensor errors in SDINS(Strapdown Inertial Navigation System) can be compensated by rotating the inertial measurement unit and it is called RINS(Rotational Inertial Navigation System). It is assumed that the error of the inertial sensor in RINS is a static bias. However, the error of the inertial sensor actually developed and produced is not a static bias due to the change of the temperature applied to the sensor and the influence of the earth's gravity acceleration. In this paper, we propose a six-position gyro bias calibration method to evaluate the gyro bias required for RINS and present the test results of applying it to a ring laser gyro inertial navigation system under development.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.1
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• pp.82-89
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• 2014

This paper discusses the methods for reducing the sampling time quantization errors of the body dither type ring laser gyroscope. A ring laser gyroscope has the angle quantization error which is generated by the frequency counting method of the laser beat signal and sampling time quantization error which is generated by the demodulation method for eliminating the body dithering in which the sampling periods are fitted to the dither periods. Generally, because the dither periods are longer than the calculation periods of the inertial navigation system, vehicle navigation errors are produced by long time attitude update missing during the vehicle move with a high dynamical motion. In this paper, the double demodulation method is proposed for reducing the sampling time quantization error and its effects under the dynamic situation are confirmed by simulation.

• International Journal of Highway Engineering
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• v.12 no.4
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• pp.71-78
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• 2010

The road safety depend on many road factors like vertical alignment, horizontal alignment and road cross section angle. These data are hardly to get with drawings, and the real data are differ from drawings because of road pavement overlay, etc. To get these data, so many time and cost are needed, moreover it is dangerous work in heavy traffic road. In this study we obtained the road safety data with RoSSAV(Road Safety Survey & Analysis Vehicle) of Korea Institute of Construction Technology in accordance with traffic flow, and make analysis of road safety with the vertical alignment, horizontal alignment and road cross section angle data. We derived the safety improvement method in Young-dong accident prone spot and described detail method in this paper.

• Journal of the Korea Institute of Military Science and Technology
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• v.17 no.4
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• pp.531-536
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• 2014

There are trapping and stripping methods as the technique to remove the dither motion from RLG(Ring Laser Gyro) output. V/F converter output of angular sensor to measure the dither motion is used in stripping method. But bias and scale factor error is always included in V/F converter output and is a critical limiting factor for the wide application of stripping method to RLG. Therefore there have been many researches to solve this problem. The method to accurately estimate the bias and scale factor error of V/F converter using measurements of the angular sensor acquired at data sampling rate of INS is presented in this paper. To this end, stripping technique based on model of dither motion is newly applied.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.11
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• pp.1106-1116
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• 2011

LINS (Laser Inertial Navigation System) consists of RLG (Ring Laser Gyroscopes)/accelerometers and provides real-time navigation information to the target system. Therefore it is very important to make a decision in the real time whether LINS is in the normal operation or not. That is called a fault detection method. In this paper, we propose the fault detection method of LINS based on the overlapping model. We also show that the fault detection probability is increased through overlapping the hardware model and the software model. It is verified through the long-term operation and RAM (Reliability Availability Maintainability) analysis of LINS that the fault detection method proposed in this paper is able to detect about 97% of probable system failures.

• Information and Communications Magazine
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• v.32 no.2
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• pp.81-88
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• 2015

본 고에서는 최근 각광받고 있는 실내 위치측위 기술의 연구 동향을 설명하고, 향후 전망에 대해 분석한다. 스마트폰 및 태블릿PC와 같은 상용 단말의 보급과 위치기반서비스 시장의 확대에 따라 일반 사용자가 별도의 장비 없이 개인 단말을 이용하여 사용자 자신의 위치정보를 획득할 수 있는 실내 측위기술에 대해 많은 연구가 진행되고 있다. WiFi 인프라 기반 기술과 단말에 탑재된 관성항법장치 기반 기술에 대한 연구가 중점을 이루고 있으며, 이 외에도 음향신호, 레이저, LED 기반 가시광 통신, Bluetooth 등을 이용한 측위기술이 연구 중에 있다. 미래에는 차세대 이동통신 기술의 도입으로 Heterogeneous 네트워크 환경과 단말 간 직접 통신을 통한 무선애드혹네트워크 환경이 구성될 것으로 전망하며, 이에 따른 미래 실내 측위기술에 대해 간략히 기술한다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.3
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• pp.275-282
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• 2009

Generally, the sinusoidal cavity dither is adopted to ring laser gyroscope for eliminating the lock-in which is non-linear effect at the small rotation input. Despite this method, there are some remained errors which are generated at the dither turnaround, and those errors produce random walk which is a general character of a ring laser gyroscope. As one of the numerous research results for compensating these errors, there is a special lock-in compensation method which is the method of error estimation and compensation by comparing the beat signal periods of before and after the dither turnarounds. In this paper, by ring laser gyroscope modeling and numerical analysis, we verified the theoretical validity and confirmed the effectiveness of this method in expectation of the possible beat signal measurement time resolution. As a result, we confirmed the random walk decreases from a-half to a-third by this lock-in compensation method. So, it is expected to be a remarkable method for reducing the INS alignment time.