• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.6
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• pp.51-56
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• 2005

This paper introduces an altitude determination algorithm using GPS/INS/Baroaltimeter and evaluates the algorithm by real field tests. The test results show that the proposed method can determine the altitude of an aircraft continuously and sensitively. Therefore, it is appropriate to be used as an altimeter for a flight control system, especially for the automatic take-off and landing. In addition, it is shown that the second and the third baro-inertial vertical channel damping methods are essentially complementary filters while the proposed scheme improves these complementary filters.

• Journal of IKEEE
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• v.18 no.3
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• pp.376-382
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• 2014

In this paper, we propose a advanced attitude PID controller and sensor fusion method robust to the vibration of the quadcopter unmanned air vehicle using four BLDC motors. When the gyro sensor and acceleration sensor are fused, a complementary filter is designed to ignore the vibrations generated by the motors and to complement the drawbacks. As a result, we obtain accurate results than using each sensor. Also, it is possible to obtain a low delay results in robust to vibration than the low-pass filter or moving average filter, which is generally used for quadcopter. And we improved D controller, which have being used for attitude control of quadcopter, to quadcopter using gyro sensor. it was confirmed that the attitude is stabilized and error is reduced By using gyro sensor output instead of variation of estimated angle in D control.

• Proceedings of the KIPE Conference
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• 2016.07a
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• pp.189-190
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• 2016

본 논문은 휠체어의 탑승자의 구동력과 BLDCM(Brushless DC Motor) 에서 출력되는 보조력인 전기적인 구동력을 동시에 사용하는 탈부착형 수전동 휠체어의 제어기를 제안한다. 제안된 방식에서는 탈부착형 수전동 휠체어 제어기는 휠체어의 기울기와 휠체어의 상관관계를 바탕으로, 탑승자의 휠체어 림 구동 상태를 추정하여 휠체어의 전동력을 전달하는 BLDCM에서 구동력을 사용자의 지령에 따라 보조하도록 제어한다. 사용자의 요구 상태는 림의 구동에 따른 휠체어의 상태를 가속도, 자이로 센서를 이용해 측정을 하게 되고, 이를 상보필터를 사용해 각도를 보정하여, 지령치를 계산하고, 구동부는 지령치에 따라 휠체어에 필요한 전동력을 발생하게 된다. 탈부착형 수전동 휠체어의 제어방식은 시뮬레이션을 통해 가능성을 검증하였다.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.544-546
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• 2004

This paper designs and evaluates a complementary filter for fusion of inertial sensor signals. Specifically, the designed filter is applied to inverted pendulum control where the pendulum's angle information is obtained from low-cost tilt and gyroscope sensors instead of an optical encoder. The complementary filter under consideration is a conventional one which consists of low- and high-pass filters. However, to improve the performance of the filter on the gyroscope, we use an integrator in the filter's outer loop. Frequency responses are obtained with both tilt and gyroscope sensors. Based on the frequency response results, we determine appropriate parameter values for the filter. The performance of the designed complementary filter is evaluated by applying the filter to inverted pendulum control. Experiments show that the performance of the designed filter is comparable to that of an optical encoder and low-cost inertial sensors can be used for inverted pendulum control with the heir of sensor fusion.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.26 no.3
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• pp.48-54
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• 2018

This paper deals with a development of a quad-rotor for a hovering attitude control. First, a rotational dynamics are derived to design an attitude controller. The attitude controller is based on PI (Proportional-Integral) controller. For a stable attitude control, an anti-windup method applies to the PI attitude controller. Additionally, a complementary filter is used to obtain more reliable attitude. Gain values of the attitude controllers based on the anti-windup method are obtained through tests. Finally, the quad-rotor with the anti-windup based PI attitude controller is developed and a hovering attitude control flight tests are performed. As a result, the developed quad-rotor is capable of stable hovering.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.2
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• pp.125-130
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• 2011

This paper shows a method to design complementary filter using least square. The complementary filter is one of useful filters estimating angle. The basic concept of this filter is to enhance advantages of each sensor that angle detecting using a gyroscope has good accuracy at a high frequency and an accelerometer at a low frequency. When designing complementary filter, the most commonly used method is using cut-off frequency. However, it may be not easy to obtain a cut-off frequency. This paper presents a systematic method to determine the coefficients of the complementary filter using well-known linear least squares minimizing error between estimating angle and true angle.

• Journal of Advanced Navigation Technology
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• v.20 no.6
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• pp.574-579
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• 2016

Unlike general unmanned aerial vehicles, the quad-rotor is attracting the attention of many people because of simple structure and very useful value. However, as the interest in drones increases, the safety and location of vehicles are becoming more important provide against aviation safety accidents or lost accidents. Therefore, in this paper, we propose a tracking system that stabilizes the model with a simple controller by linearized modeling and grasp tilt angle data from various sensor through the filter. The developed tracking system transmits the position of the quad-rotor in flight to the computer and shows it through the route, so it can check the flight path and various information such as flight speed and altitude at the same time. Then the sensor used in the actual quad-rotor can not measure exact sensor data for disturbance and vibration. So we use sensor fusion of Kalman filter and Complementary filter to overcome this problem and the stability of the quad-rotor hovering is realized by PID control. Through simulation, various information such as the speed, position, and altitude of the quad-rotor were confirmed in real time.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.26 no.5B
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• pp.639-644
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• 2001

본 논문에서는 저전압(2V) 동작이 가능하도록 high-swing cascode 방식을 이용한 능동소자를 제안하고, 이를 이용하여 400MHz의 차단주파수 특성을 나타내는 저역통과 능동필터를 설계하였다. 제안된 적분기는 이득특성에 영향을 주는 트랜스컨덕스값을 증가시키기 위해 CMOS 상보형 캐스코드 방식을 이용하여 구성되었다. 0.25$\mu\textrm{m}$ CMOS n-well 공정 파라미터를 이용한 Hspice 시뮬레이션 결과, 제안된 적분기는 2V 공급전압하에서 42dB의 이득값과 200MHz의 단위이득주파수 특성을 나타내었다. 또한 이를 이용하여 설계된 저역통과 능동필터는 400MHz의 차단주파수 특성을 나타내고 368MHz에서 416MHz까지 튜닝이 가능하였다.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2009.06a
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• pp.337-337
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• 2009

가시광선영역에서 매우 균일한 높은 투과성뿐만 아니라 근적외선영역에서 가파른 홉수성 엣지와 함께 낮은 투과율을 제공하는 산화구리(II)를 함유하는 포스페이트 유리는 컬러 비디오 카메라의 컬러 보정 필터, 발광 컬러 디스플레이용 보호판(sheild), 모노크로메이터의 미광 필터, 플라스틱 복합재 필터의 무기 성분 및 CCD(전하 결합 소자) 및 CMOS(상보성 금속 산화물 반도체) 카메라 및 검출기 분야용 필터 유리로서 사용된다. 용융온도 및 산화구리(II) 첨가량에 따른 투과율을 측정하기 위해 포스페이트 유리 시료를 $1100\sim1500^{\circ}C$ 용융한 후 $400^{\circ}C$에서 2시간 동안 어닐링 공정을 거쳐 제조하였다. 제조된 시료는 두께 0.3mm로 폴리싱하여 자외선-적외선 분광 광도기를 이용하여 광학적 특성을 측정하였다. 본 실험을 통하여 용융온도에 따라 가시광선영역 및 근적외선영역에서의 투과율 거동을 비교한 결과 $1100\sim1200^{\circ}C$에서의 우수한 투과율 특성을 나타냈다. 용융온도가 내려감에 따른 가시광선영역 (400~600nm)에서 높은 투과율 및 근적외선영역 (750~1100nm)에서 낮은 투과율과 가파른 흡수성 엣지를 나타냈다.

• Journal of Korea Multimedia Society
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• v.7 no.11
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• pp.1515-1520
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• 2004

In this paper, a new continuous-time bandpass active filter for lour-voltage applications is proposed. The active filter is composed of the CMOS complementary cascode circuit which can increase trans-conductance of an active element. These results are verified through the 0.25$\mu\textrm{m}$ CMOS n-well parameter hspice simulation. As a result, the gain and the unity gain frequency is 42dB and 200MHz respectively in the integrator. Additionally, center frequency of the bandpass active filter is 747kHz. And also bandwidth of the filter is 649kHz on 2V supply voltage.