• Journal of Institute of Control, Robotics and Systems
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• v.6 no.11
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• pp.1039-1044
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• 2000

In this paper, the error caused by the measurement delay in INS/GPS integrated systems with Kalman filtering is defined and analyzed through the analytical method and the simulation. It is proved that the error of measurement delay causes not only the position error but also the estimate error of the x-axis accelerometer bias when a vehicle turns. And the estimation method of the delay time and the compensation method using an extrapolation method are presented. The performance of the compensation method is shown by the analytic method and the simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.637-648
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• 2007

This paper presents a sensor fusion method based on indirect Kalman filter(IKF) for error compensation of low-cost inertial sensors and its application to the determination of attitude and position of small flying robots. First, the analysis of the measurement error characteristics to zero input is performed, focusing on the bias due to the temperature variation, to derive a simple nonlinear bias model of low-cost inertial sensors. Moreover, from the experimental results that the coefficients of this bias model possess non-deterministic (stochastic) uncertainties, the bias of low-cost inertial sensors is characterized as consisting of both deterministic and stochastic bias terms. Then, IKF is derived to improve long term stability dominated by the stochastic bias error, fusing low-cost inertial sensor measurements compensated by the deterministic bias model with non-inertial sensor measurement. In addition, in case of using intermittent non-inertial sensor measurements due to the unreliable data link, the upper and lower bounds of the state estimation error covariance matrix of discrete-time IKF are analyzed by solving stochastic algebraic Riccati equation and it is shown that they are dependant on the throughput of the data link and sampling period. To evaluate the performance of proposed method, experimental results of IKF for the attitude determination of a small flying robot are presented in comparison with that of extended Kaman filter which compensates only deterministic bias error model.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.2C
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• pp.298-305
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• 2004

This paper presents an error compensation method for a fixed-width modified Booth multiplier that receives a W-bit input and produces a W-bit product. To efficiently compensate for the quantization error, Booth encoder outputs (not multiplier coefficients) are used for the generation of error compensation bias. The truncated bits are divided into two groups depending upon their effects on the quantization error. Then, different error compensation methods are applied to each group. By simulations, it is shown that quantization error can be reduced up to 50％ by the proposed error compensation method compared with the existing method with approximately the same hardware overhead in the bias generation circuit. It is also shown that the proposed method leads to up to 40％ reduction in area and power consumption of a multiplier compared with the ideal multiplier.

• The Journal of the Acoustical Society of Korea
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• v.22 no.4E
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• pp.150-154
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• 2003

The distortion effects of microphones have been analyzed and compensated at mel-frequency feature domain. Unlike popular bias removal algorithms a linear transformation of mel-frequency spectrum is incorporated. Although a diagonal matrix transformation is sufficient for medium-quality microphones, a full-matrix transform is required for low-quality microphones with severe nonlinearity. Proposed compensation algorithms are tested with HTIMIT database, which resulted in about 5 percents improvements in recognition rate over conventional CMS algorithm.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.20 no.4
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• pp.129-133
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• 2020

In this paper, a temperature compensation circuit is presented in order to mitigate gain variability due to temperature in the W-band low-noise amplifier (LNA). The proposed cascode temperature compensation bias circuit automatically controls gate bias voltages of the common-source LNA in order to suppress variations of small-signal gain. The designed circuit was realized in a 100-nm GaAs pHEMT process. The simulated voltage gain of W-band LNA including the proposed bias circuit is >20 dB with gain variability less than ±0.8 dB in the range of temperatures between -35 to 71℃. We expect that the proposed circuit contributes to millimeter-wave receivers for stable performances in radar applications.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.8
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• pp.783-789
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• 2011

Target tracking performance improvement using multi-sensor data fusion is a challenging work. However, biases in the measurements should be removed before various data fusion techniques are applied. In this paper, a bias removing algorithm using measurement data from multi-radar tracking systems is proposed and evaluated by computer simulation. To predict bias estimation performance in various geometric relations between the radar systems and target, a system observability index is proposed and tested via computer simulation results. It is also studied that target tracking which utilizes multi-sensor data fusion with bias-removed measurements results in better performance.

• Journal of Positioning, Navigation, and Timing
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• v.13 no.2
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• pp.179-187
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• 2024

The performance of a Strapdown Inertial Navigation System (SDINS) relies heavily on the accuracy of sensor error calibration. Systematic calibration is usually employed when only a 2-axis turntable is available. For systematic calibration, the body frame is commonly defined with respect to sensor axes for ease of computation. The drawback of this approach is that sensor axes may undergo time-varying deflection under temperature change, causing pseudo gyro bias. The effect of pseudo gyro bias on navigation performance is negligible for low grade navigation systems. However, for higher grade systems undergoing rapid temperature change, the error is no longer negligible. This paper describes in detail conditions leading to the presence of pseudo gyro bias, and proposes two techniques for mitigating the error. Experimental results show that applying these techniques improves navigation performance for precision SDINS, especially under rapid temperature change.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2521-2524
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• 2003

Since inertial sensor errors which increase with time are caused by initial orientation error and sensor errors (accelerometer bias and gyro drift bias), the accuracy of these devices, while still improving, is not adequate for many of today's high-precision, long-duration sea, aircraft, and long-range missile missions. This paper presents a navigation error compensation scheme for Strap-Down Inertial Navigation System (SDINS) using Line-Of-Sight(LOS) vector from star sensor. To be specific, SDINS error model and measurement equation are derived, and Kalman filter is implemented. Simulation results show the bounded-ness of position and attitude errors.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.888-893
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• 2005

Since inertial sensor errors which increase with time are caused by initial orientation error and sensor errors(accelerometer bias and gyro drift bias), the accuracy of these devices, while still improving, is not adequate for many of today's high-precision, long-duration sea, aircraft, and long-range flight missions. This paper presents a navigation error compensation scheme for Strap-Down Inertial Navigation System(SDINS) using star tracker. To be specific, SDINS error model and measurement equation are derived, and Kalman filter is implemented. Simulation results show the boundedness of position and attitude errors.

• 한국정보디스플레이학회:학술대회논문집
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• 2006.08a
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• pp.1701-1703
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• 2006

Here we describe a novel driving scheme in the form of negative AC bias stress (NAC) to compensate shift in the threshold voltage for hydrogenated amorphous silicon (${\alpha}$-Si:H) thin film transistor (TFT) for AMOLED applications. This scheme preserves the threshold voltage shift of ${\alpha}$-Si:H TFT for infinitely long duration of time(>30,000 hours) and thereby overall performance, without using any additional TFTs for compensation. We briefly describe about the possible driving schemes in order to implement for real time AMOLED applications. We attribute most of the results based on concept of plugging holes and electrons across the interface of the gate insulator in a controlled manner.