• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.138-145
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• 2000

In this paper an initial alignment algorithm for a strapdown inertial navigation system is implemented using a RISC CPU board. The algorithm computes roll pitch and yaw angles of the direction cosine matrix utilizing measured components of the specific force and earth rate when the navigation system is stationary. The coarse alignment algorithm is performed first and then the fine alignment algorithm containing a 3rd-order gyrocompass loop follows. The experimental set consists of an IMU a CPU board and a monitoring system Experimental results show that the implemented algorithm can be utilized in navigation systems.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.299-303
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• 1993

In an underwater vehicle, the navigation error is mostly caused by the initial misalignment, the bias of a gyro and an accelerometer, and the sea current. Therefore, it is important that these error sources are estimated and compensated in order to reduce the navigation error. In this paper, the E.M.Log aided SDINS is designed by using the E.M.Log which measures the forward velocity of a vehicle. And the system error state equation and the measurement equation are derived and the suboptimal Kalman Filter is established for this aided SDINS. The simulation result showed that this had an important role in estimating and compensating these error sources, thus reducing the navigation error of an underwater vehicle.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.142-146
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• 1991

In order to develope transfer alignment algorithm which achieves accurate initial alignment of slave strapdown inertial navigation system(SDINS) of a missle using master SDINS of mobile launchers third-order suboptimal filter is constructed to estimate the transformation matrix between two SDINS coordinates. In Kalman Filter formulation, the measurement equation uses that of accelerometer when stationary, and is replaced by that of gyroscope when elevating the missle. This switching method is applied to increase the degree of observability and to remove the error generated by lever arm effect. Simulation results show that the azimuth transfer error is about 0.3 mrad, and confirm that this scheme has a potential for real application.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.2
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• pp.475-478
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• 2006

본 논문에서는 소형 무인항공기의 정확한 위치, 속도, 자세 정보를 제공하기 위해 저급의 MEMS IMU를 이용한 항법 시스템을 제안한다. 제안하는 시스템은 비행체의 직선운동과 회전운동을 측정할 수 있는 관성측정기와 위성신호를 수신하여 항체의 위치, 속도 정보를 제공하는 GPS 수신기, 지구 자기장 정보를 이용하여 방향각 정보를 제공하는 지자기 센서들로 구성되었다. SDINS와 약결합 방식의 칼만필터를 이용한 항법 시스템은 초기정렬 알고리즘과 센서 오차 보상 알고리즘, 자력계 보상 알고리즘 및 복합항법 알고리즘으로 나뉘며, 설계된 항법 알고리즘들은 시뮬레이션과 차량 실험을 통해서 성능을 분석하였다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.6
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• pp.2269-2275
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• 2010

The performance of Genetic Algorithms (GA) is affected by various factors such as parameters, genetic operators and strategies. The traditional approach with random initial population is efficient however the whole initial population may contain many infeasible solutions. Thus it would take a long time for GA to produce a good solution. The GA have been modified in various ways to achieve faster convergence and it was particularly recognized by researchers that initial population greatly affects the performance of GA. This study proposes modified GA with sorted initial population and applies it to solving Travelling Salesman Problem (TSP). Normally, the bigger the initial the population is the more computationally expensive the calculation becomes with each generation. New approach allows reducing the size of the initial problem and thus achieve faster convergence. The proposed approach is tested on a simulator built using object-oriented approach and the test results prove the validity of the proposed method.

• Journal of the Korea Society of Computer and Information
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• v.17 no.4
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• pp.139-145
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• 2012

Generally, Quicksort selects the pivot from leftmost, rightmost, middle, or random location in the array. This paper suggests Quicksort using middle range pivot $P_0$ and continually divides into 2. This method searches the minimum value $L$ and maximum value $H$ in the length n of list $A$. Then compute the initial pivot key $P_0=(H+L)/2$ and swaps $a[i]{\geq}P_0$,$a[j]<P_0$ until $i$=$j$ or $i$>$j$. After the swap, the length of list $A_0$ separates in two lists $a[1]{\leq}A_1{\leq}a[j]$ and $a[i]{\leq}A_2{\leq}a[n]$ and the pivot values are selected by $P_1=P_0/2$, $P_2=P_0+P_1$. This process repeated until the length of partial list is two. At the length of list is two and $a$[1]>$a$[2], swaps as $a[1]{\leftrightarrow}a[2]$. This method is simpler pivot key process than Quicksort and improved the worst-case computational complexity $O(n^2)$ to $O(n{\log}n)$.

• The Journal of Korea Robotics Society
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• v.15 no.1
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• pp.16-23
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• 2020

This paper describes an alignment algorithm that estimates the initial heading angle of AUVs (Autonomous Underwater Vehicle) for starting navigation in a sea area. In the basic dead reckoning system, the initial orientation of the vehicle is very important. In particular, the initial heading value is an essential factor in determining the performance of the entire navigation system. However, the heading angle of AUVs cannot be measured accurately because the DCS (Digital Compass) corrupted by surrounding magnetic field in pointing true north direction of the absolute global coordinate system (not the same to magnetic north direction). Therefore, we constructed an experimental constraint and designed an algorithm based on extended Kalman filter using only inertial navigation sensors and a GPS (Global Positioning System) receiver basically. The value of sensor covariance was selected by comparing the navigation results with the reference data. The proposed filter estimates the initial heading angle of AUVs for navigation in a sea area and reflects sampling characteristics of each sensor. Finally, we verify the performance of the filter through experiments.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.12
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• pp.1097-1106
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• 2011

Unsteady numerical analysis was performed to simulate air-launched missiles from a complete helicopter in hover by using an unstructured overset mesh flow solver coupled with a module of six degree-of-freedom motion of equations. The unsteady computations have been performed to obtain flow fields around the complete helicopter including main rotor, tail rotor, and fuselage equipped with multiple missiles, and six-DOF simulation has been performed to predict the behavior of the air-launched missile. The effects of the launching position and the missile thrust on the trajectory of the missile were investigated as well as the aerodynamic interference of the air-launched missile under the unsteady downwash produced by main rotor.

• Annual Conference on Human and Language Technology
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• 2013.10a
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• pp.27-32
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• 2013

본 논문은 잘 알려지지 않은 언어 쌍에 대해서 병렬말뭉치(parallel corpus)로부터 자동으로 이중언어 사전을 추출하는 방법을 제안하였다. 이 방법은 중간언어(pivot language)를 매개로 하고 문맥 벡터를 생성하기 위해 공개된 단어 정렬 도구인 Anymalign을 사용하였다. 그 결과로 초기사전(seed dictionary)을 사용한 문맥벡터의 번역 과정이 필요 없으며 통계적 방법의 약점인 낮은 빈도수를 가지는 어휘에 대한 번역 정확도를 높였다. 또한 문맥벡터의 요소 값으로 특정 임계값 이상을 가지는 양방향 번역 확률 정보를 사용하여 상위 5위 이내의 번역 정확도를 크게 높였다. 본 논문은 두 개의 서로 다른 언어 쌍 한국어-스페인어 그리고 한국어-프랑스어 양방향에 대해서 각각 이중언어 사전을 추출하는 실험을 하였다. 높은 빈도수를 가지는 어휘에 대한 번역 정확도는 이전 연구에서 보인 실험 결과에 비해 최소 3.41% 최대 67.91%의 성능 향상을 보였고 낮은 빈도수를 가지는 어휘에 대한 번역 정확도는 최소 5.06%, 최대 990%의 성능 향상을 보였다.

• Aerospace Engineering and Technology
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• v.11 no.2
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• pp.87-95
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• 2012

This technical paper describes the analysis results of telemetry data for the initial activation of star trackers for an agile high accuracy low earth orbit satellite. The satellite was recently launched and is in the Launch and Early Operation Phases. It uses two SED36 star trackers manufactured by SODERN. The star tracker is separated by three parts, an optical head, an electronics box, and a baffle with maintaining optical head base plate temperature 20 degC in order to achieve the better performance in low frequency error. This paper presents the initial activation status, requirements and performance, anomaly occurrence, and noise equivalent angle performance analysis during the mission mode by processing the telemetry data.