• Journal of Institute of Control, Robotics and Systems
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• v.13 no.12
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• pp.1243-1251
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• 2007

In this paper a study on the simplified observability analysis of GPS/INS is introduced. Errors for the position, velocity, attitude, gyro and accelerometer biases, and lever arm between GPS antenna and inertial sensors are considered in the observablity analysis. From the error dynamics model in which relatively small terms are neglected, simple observability conditions are obtained such that the observability of GPS/INS is determined by the test on the attutude, gyro bias, and lever arm. Unobservable errors for the position, velocity, and accelerometer bias are determined by those for the attitude, gyro bias, and lever arm. The simplified observability conditions are applied to a constant speed horizontal motion. It is shown that there are seven unobservable modes for the motion including the vertical component of gyro bias. The analytic observability analysis results are confirmed with a covariance simulation.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.8
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• pp.789-797
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• 2009

Gyroscope's deadzone is a region where can not detect the rate even though the actual rotation is applied. This paper analyzed the cause of deadzone by modeling/simulation and introduced pulse dithering method to overcome. From the testing of 3-axis fiber optic gyro system using 900m fiber, it confirmed deadzone could be effectively eliminated by combination of three factors, dither amplitude, dither frequency, and gyro loop gain.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2010.05a
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• pp.725-727
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• 2010

For simulation of Boat motion, pitch, motion element of roll and yaw direction could simulated. The combination of the marine use various multi sensor surveillance system technology with the development of servo motion control algorithm and gyro sensor in six freedom motion is implemented to analyze the movement response. The stabilization of the motion control is developed and Nano driving Precision Pan-Tilt/Gimbal system is obtained from the security positioning cameras with ultra high speed device is used to carry out the exact behavior of the device.

• Proceedings of the Korea Information Processing Society Conference
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• 2012.04a
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• pp.860-863
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• 2012

본 논문에서는 지각의 실시간 측량과 데이터 수집을 위해 Gyro Sensor기반의 전자기준점 시스템을 제안한다. 이를 위해 GPS 모듈, 환경 센서 및 Gyro Sensor를 이용하여 측량값을 데이터화하고 데이터값을 CDMA 모듈 방식을 이용해 데이터베이스 서버로 전송한다. 또한 측정값을 사용자 기반의 시스템 GUI를 구현함으로써 실시간으로 모니터링이 가능하도록 구현하였다.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1998.12a
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• pp.505-510
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• 1998

• International Journal of Control, Automation, and Systems
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• v.5 no.2
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• pp.147-154
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• 2007

This paper describes a 'gyro-mouse', which provides a new human-computer interface (HCI) for persons who are disabled in their upper extremities, for handling the mouse-click and mouse-move function. We adopted the artificial neural network to recognize a quick-nodding pattern of the disabled person as the gyro-mouse click. The performance of our gyro-mouse was evaluated by three indices that include 'click recognition rate', 'error in cursor position control', and 'click rate per minute' on a target box appearing at random positions. Although it turned out that the average error in cursor positioning control was 1.4-1.5 times larger than that of optical mouse control, and the average click rate per minute was 40% of the optical mouse, the overall click recognition rate was 93%. Moreover, the click rate per minute increased from 35.2% to 44% with repetitive trials. Hence, our suggested gyro-mouse system can be used to provide a new user interface tool especially for those persons who do not have full use of their upper extremities.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.6
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• pp.814-819
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• 2010

This paper is presented to study the error minimization of angular velocity for AGV(autonomous ground vehicle). The error minimization of angular velocity is related to localization technique which is the most important technique for autonomous vehicle. Accelerometer, yaw gyro and electronic compass have been used to measure angular velocity. And methods for error minimization of angular velocity have been actively studied through probabilistic methods and sensor fusion for AGVs. However, those sensors still occure accumulated error by mathematical error, system characters of each sensor, and computational cost are increased greatly when several sensor are used to correct accumulated error. Therefore, this paper studies about error minimization of angular velocity that just uses encoder and gyro. To experiment, we use autonomous vehicle which is made by ourselves. In experimental result, we verified that the localization error of proposed method has even less than the localization errors which we just used encoder and gyro respectively.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.2
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• pp.285-293
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• 2017

Jump rope has two motions. It starts as hand motion and ends as jump motion. Therefore, two motions should be considered together to detect rotations accurately. But previous researches only consider one of the two motions as in push-up, sit-up, lift dumbbells etc, which results in inaccurate detection of rotations. In this paper, detection of rotation in jump rope using two motions through 6-axis accelerometer gyro sensor is proposed. Jump motion is detected using accelerometer sensor and hand motion is detected using gyro sensor. Also start point and end point of jump rope is detected using magnitude and standard deviation of accelerometer and gyro sensor values. The count of rotation is detected using y-axis of gyro sensor value. Y-axis of gyro sensor value indicate hand motion of jump rope motion. The usefulness of the proposed method is confirmed through experimental results.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.05a
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• pp.627-630
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• 2009

The combination of the marine use various multi sensor surveillance system technology with the development of servo motion control algorithm and gyro sensor in six freedom motion is implemented to analyze the movement response. The stabilization of the motion control is developed and Nano driving Precision Pan-Tilt/Gimbal system is obtained from the security positioning cameras with ultra high speed device is used to carry out the exact behavior of the device. The exact behavior will be used to make a essential equipment. Finally the development of the Nano Driving Multi Sensor, Nano of Surveillance System Driving Precision Pan-Tilt/Gimbal optimal design and production, 3-aix Gyro Sensor based with Servo Motion Control algorithm development, Image trace video software and hardware tracking the development is organized and discuss in details. The development of the equipment and the system integration are fully experimented and verified.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.148-153
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• 1988

In this study, the stabilization of moving sight using a gyro is investigated. At first, Linear Compensator was design by linearizing gyro, torque motor and several parameters from a given required frequency response curve. By using this, System Control Performance was analyzed by back EMF, torque saturation and Coulomb friction effects. Also stabilization Performance by disturbances and Paramter variations were simulated.