• Transactions of the Korean Society of Machine Tool Engineers
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• v.12 no.6
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• pp.64-70
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• 2003

A measurement of spacecraft alignment is an important process of spacecraft assembly, integration and test because it is necessary that a ground station controls the precise positions of on-orbit spacecraft by using the alignment data of attitude orbit control sensors(AOCS) on spacecraft. In addition, accuracy of spacecraft alignment requirement is about $0.1^{\circ}$~$0.7^{\circ}$. The spacecraft alignment is measured by autocollimation of theodolite. This paper describes the measurement principle and method of spacecraft alignment. The result shows that all of the AOCS on the spacecraft are aligned within the tolerance required through the alignment measurement.

• IEMEK Journal of Embedded Systems and Applications
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• v.10 no.6
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• pp.373-379
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• 2015

A hybrid navigation system is implemented to apply for a mobile robot. The hybrid navigation system consists of an inertial navigation system and a global positioning system. The inertial navigation system quickly calculates the position and the attitude of the robot by integrating directional accelerations, angular speed, and heading angle from a strap-down inertial measurement unit, but the results are available for a short time since it tends to diverge quickly. Global positioning system delivers position, heading angle, and traveling speed stably, but it has large deviation with slow update. Therefore, a hybrid navigation system uses the result from an inertial navigation system and corrects the result with the help of the global positioning system where an indirect feedback Kalman filter is used. We implement and confirm the performance of the hybrid navigation system through driving a car attaching it.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2171-2175
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• 2002

Helicopter dynamics are plenty of nonlinearity. A complete mathematical model including propeller dynamics and fortes generated by the propellers is very difficult to obtain. So the method used to design to design a controller is a parameter estimation. Design controller based on variable structure system. This paper deals with LQR control technique to control efficiently, its elevation angle and azimuth one. The purpose of the experiment is to design a controller allows to use a desired elevation angle and azimuth ones. The system model has a helicopter model with 2-degree-of freedom. The simulation results were verified usefulness of controller.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.286-288
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• 2003

In this paper, we present our implementation of the direct camera model (image to ground) for SPOT5 and use it to assess the geometric accuracy of SPOT5 imagery. Our assessment confirms the location accuracy of SPOT5 imagery (without use of GCPs) is less than 50m. We further introduce a few attitude parameters to refine the camera model with GCPs. The model is applied to two SPOT5 supermode images, one near vertical, incidence angle of 3 degrees, and one far oblique, incidence angle of 27 degrees. The results show that accuracy (rms of check points) of about one pixel (2.5m) can be achieved with about 4 GCPs by using only 3 parameters to correct the yaw, pitch and roll of the satellite.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2005.06a
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• pp.257-261
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• 2005

The helicopter system is non-linear and complex. Futhermore, because of absence of accurate mathematical model, it is difficult accurately to control its attitude. therefore, we propose a WAVENET control technique to control efficiently its elevation angle and azimuth one. Wavelet neural network(WAVENET) can construct systematically initial neural network as applying wavelet theory to feedforward network. It is proved through computer simulation that WAVENET has more excellent approximation capability than existing neural network. The simulation results using MATLAB are introduced.

• Aerospace Engineering and Technology
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• v.4 no.1
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• pp.66-76
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• 2005

In this study, star visibility analysis of a star tracker is performed by using a statistical apprach. The probability of the Sun and the Earth proximity, the solar array masking probability, and the solar array blinding probability by the Sun light are obtained from the arbitrary chosen satellite positions as a function of a line of sight vector of the star tracker in several satellite attitude modes. This analysis demonstrates that the optimized star tracker accomodations can be determined to be an elevation angle -40o and two azimuth angles $-35^{circ}$ and $-150^{circ}$.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.3
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• pp.214-221
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• 2005

For decades, airships have being developed in Europe (especially German) and America. Airships are planning to be used for advertisements and airliners as well. In Korea, KARI (Korea Aerospace Research Institute) is developing stratospheric communication airship and the similar research is carried out in Japan. Among them, Zeppelin of German has the cutting-edge airship technology with Zeppelin NT. In this paper, the flight performance and stability were evaluated by comparing mathematical theory and the real test. The stability was examined through dynamic modeling and assured by designing controllers at each flight mode. Elevator angle, rudder angle, magnitude of thrust and tilting angle of thrust vector were used as control inputs. Moreover, after measuring the airship velocity, flight direction, magnitude and direction of the wind, attitude angles and trajectories of the airship at each flight mode, the results were compared with the simulation. To get the reasonable data, low-pass filter and band-stop filter were designed to get rid of the sensor noise and engine vibration. The test was accomplished at cruise mode, turning mode, and deceleration. To conclude, with comparing the simulation data and flight test data, it could be known that the dynamic model used in this paper was reasonable.

• 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.

• Journal of Astronomy and Space Sciences
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• v.20 no.3
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• pp.205-216
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• 2003

The attitude motion of a spin-stabilized, upper-stage spacecraft is investigated based on a two-body model, consisting of a symmetric body, representing the spacecraft, and a spherical pendulum, representing the liquid slag pool entrapped in the aft section of the rocket motor. Exact time-varying nonlinear equations are derived and used to eliminate the drawbacks of conventional linear models. To study the stability of the spacecraft's attitude motion, both the spacecraft and pendulum are assumed to be in states of steady spin about the symmetry axis of the spacecraft and the coupled time-varying nonlinear equation of the pendulum is simplified. A quasi-stationary solution to that equation and approximate resonance conditions are determined in terms of the system parameters. The analysis shows that the pendulum is subject to a combination of parametric and external-type excitation by the main body and that energy from the excited pendulum is fed into the main body to develop the coning instability. In this paper, numerical examples are presented to explain the mechanism of the coning angle growth and how angular momenta and disturbance moments are generated.

• Journal of Korean Society for Geospatial Information Science
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• v.14 no.4 s.38
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• pp.27-36
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• 2006

Conventionally, in order to get accurate geolocation of satellite images we need a set of ground control points with respect to individual scenes. In this paper, we tested the possibilities of modeling satellite orbits from individual scenes by establishing a sensor model for one scene and by applying the model, which was derived from the same orbital segment, to other scenes that has been acquired from the same orbital segment. We investigated orbit-attitude models with several interpolation methods and with various parameter sets to be adjusted. We used 7 satellite images of SPOT-3 with a length of 420km and ground control points acquired from GPS surveying. Results of the conventional individual scene modeling hardly introduced differences among different interpolation methods and different adjustment parameter sets. As the results of orbit modeling, the best model was the one with Lagrange interpolation for position/velocity and linear interpolation for attitude and with position/angle bias as parameter sets. The best model showed that it is possible to model orbital segments of 420km with ground control points measured within one scene (60km).