• Title/Summary/Keyword: Gyroscope System

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Sensitivity Optimization of MEMS Gyroscope for Magnet-gyro Guidance System (자기-자이로 유도 장치를 위한 MEMS형 자이로의 민감도 최적화)

  • Lee, Inseong;Kim, Jaeyong;Jung, Eunkook;Jung, Kyunghoon;Kim, Jungmin;Kim, Sungshin
    • The Journal of Korea Robotics Society
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    • v.8 no.1
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    • pp.29-36
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    • 2013
  • This paper presents a sensitivity optimization of a MEMS (microelectromechanical systems) gyroscope for a magnet-gyro system. The magnet-gyro system, which is a guidance system for a AGV (automatic or automated guided vehicle), uses a magnet positioning system and a yaw gyroscope. The magnet positioning system measures magnetism of a cylindrical magnet embedded on the floor, and AGV is guided by the motion direction angle calculated with the measured magnetism. If the magnet positioning system does not measure the magnetism, the AGV is guided by using angular velocity measured with the gyroscope. The gyroscope used for the magnet-gyro system is usually MEMS type. Because the MEMS gyroscope is made from the process technology in semiconductor device fabrication, it has small size, low-power and low price. However, the MEMS gyroscope has drift phenomenon caused by noise and calculation error. Precision ADC (analog to digital converter) and accurate sensitivity are needed to minimize the drift phenomenon. Therefore, this paper proposes the method of the sensitivity optimization of the MEMS gyroscope using DEAS (dynamic encoding algorithm for searches). For experiment, we used the AGV mounted with a laser navigation system which is able to measure accurate position of the AGV and compared result by the sensitivity value calculated by the proposed method with result by the sensitivity in specification of the MEMS gyroscope. In experimental results, we verified that the sensitivity value through the proposed method can calculate more accurate motion direction angle of the AGV.

Dynamic Analysis of Toning-fork Gyroscope (음차자이로의 동적특성 연구)

  • 곽문규;송명호
    • Transactions of the Korean Society for Noise and Vibration Engineering
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    • v.13 no.2
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    • pp.92-98
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    • 2003
  • A rate gyroscope has been used popularly to measure the angular motion of a given vehicle using a symmetric rotor spinning rapidly about its symmetry axis. Since the rapid rotation is required in this type of gyroscope, the motor has been used to make the rotor spin, so that it results in a heavy configuration. The toning-fork gyroscope has been developed to avoid this problem, which utilizes a Coriolis coupling term and vibration about one axis. Due to the Coriolis effect, the vibration of one axis is transferred to other axis when the angular motion along the vibrating axis is given to the system. The concept of a tuning-fork gyroscope was recently realized using MEMS techniques. However, the dynamic characteristics of the tuning-fork gyroscope has not been discussed in detail. In this study. we derived the equations of motion for the tuning-fork type gyroscope using the energy approach and investigated the dynamic characteristics by means of numerical analysis.

Dead Reckoning Navigation System for Autonomous Mobile Robot using Indirect Feedback Kalman Filter (간접되먹임 필터를 이용한 이동로봇의 추측항법 시스템)

  • 박규철;정학영;이장규
    • Journal of Institute of Control, Robotics and Systems
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    • v.5 no.7
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    • pp.827-835
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    • 1999
  • In this paper, a dead reckoning navigation system for differential drive mobile robots is presented. The navigation system consists of two incremental encoders and a gyroscope. We have built a third order polynomial function for compensating the nonlinear scale factor errors of the gyroscope. We utilize an indirect Kalman filter that feeds back estimated errors to the main navigation system. Also, the observability of the filter is analyzed in order to systematically evaluate the filter's performance. Experimental results show that the proposed navigation system provides a reliable position and heading angle by mutually compensating the encoder and the gyroscope errors. The proposed filter also reduces the computational burden and enhances the navigation system's reliability. The observability analysis confirms the characteristics of inevitably unbounded position error growth in dead reckoning navigation systems.

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Planar Vibratory Gyroscope using Electrostatic Actuation and Electromagnetic Detection (정전력 구동 및 전자력 검출형 평면 진송 각속도계)

  • 이상훈;임형택;이승기
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1995.10a
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    • pp.1089-1092
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    • 1995
  • A planar vibratory gyroscope using electrostatic actuation and electromagnetic detection is proposed. The gyroscope has large sensitivity and can be fabricated by using surface micrimachining, bulk micromachining and conventional machining technology. In this paper, the gyroscope and the electromagnetic detecting system equations are derived to determine the output characteristics for the planar vibratory gyroscope using electrostatic acturation and electromagnetic detection. The maximum output is obtained when the driving frequencyequals to the detecting frequency. The resonant frequencies of the resonator are determined by the beam stiffness, i.e. the material constants and spring dimensions. The dimensions of the beams are determined using the analytic vibration modelling. The expected resonant frequencies are 200Hz both and the sensitivity is 62mV/deg/sec with 4000 electronic circuit amplifying coefficient for an AC drive voltage of 3V bias voltage of 15V and DC field current of 50 mA.

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Dynamic Analysis of Tuning-Fork Gyroscope (음차자이로의 동적특성 연구)

  • 곽문규;한상보
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2002.05a
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    • pp.247-252
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    • 2002
  • A rate gyroscope has been used popularly to measure the angular motion of a given vehicle using a symmetric rotor spinning rapidly about its symmetry axis. Since the rapid rotation is required in this type of gyroscope, the motor has been used to make the rotor spin, so that it results in a heavy configuration. The tuning-fork gyroscope has been developed to avoid this problem, which utilizes a coriolis coupling term and vibration about one axis. Because of the coriolis effect, the vibration of one axis is transferred to other axis when the angular motion along the vibrating axis is given to the system. The concept of a tuning-fork gyroscope was recently realized using MEMS techniques. However, the dynamic characteristics of the tuning-fork gyroscope has not been discussed in detail. In this study, we derived the equations of motion for the tuning-fork type gyroscope using the energy approach and investigated the dynamic characteristics by means of numerical analysis.

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Fiber Optic Gyroscope using IOC (IOC를 사용한 광파이버 자이로)

  • Kim, In-Soo S.;Kim, Yo-Hee
    • Proceedings of the KIEE Conference
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    • 1998.07e
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    • pp.1843-1845
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    • 1998
  • Gyroscope is a very important core sensor as a rotation sensor in inertial space, in inertial guidance and navigation system on aeronautics. Plane, vessel and so on for civilian and millitary applications. Research and development of fiber optic gyroscope began in 1976 and focused on improving the gyroscope's sensitivity to rotation. bias performance and reducing noise. We have developed a Interferometric Fiber Optic' Gyroscope using a integrated-optic-circuit (IOC), which is operating with closed-loop electronic circuit. This paper describes the scheme of optical part and electronic part and also test results of this fiber optic gyroscope using a integrated-optic-circuit (IOC). The performance have been achieved as long-term bias drift of $1.73^{\circ}/h$.

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Recent Development Trends of Fiber Optic Gyroscope in Space Application (우주용 광섬유자이로 개발동향)

  • Jung, Dong-Won;Kim, Jeong-Yong;Oh, Jun-Seok;Roh, Woong-Rae
    • Current Industrial and Technological Trends in Aerospace
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    • v.8 no.2
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    • pp.76-85
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    • 2010
  • This paper discusses recent development trends of fiber optic gyroscope (FOG) in space application. Fiber optic gyroscope utilizes Sagnac effect to measure the angular rate of a rotating object in space. Having a rather short development history compared to ring laser gyroscope (RLG), the fiber optic gyroscope, owing to the emerging technologies in fiber optic society and the digital signal processing technique, reveals itself as a noteworthy replacement of the ring laser gyroscope in the space mission. This paper summarizes the current trends of fiber optic gyroscope based on the actual products commercialized in the market over the last decades, while presenting the future development trends of the fiber optic gyroscope in the space exploration.

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Dead reckoning navigation system for autonomous mobile robot using a gyroscope and a differential encoder (자이로스코프와 차등 엔코더를 사용한 이동로보트의 추측항법 시스템)

  • 박규철;정학영;이장규
    • 제어로봇시스템학회:학술대회논문집
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    • 1997.10a
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    • pp.241-244
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    • 1997
  • A dead reckoning navigation system is developed for autonomous mobile robot localization. The navigation system was implemented by novel sensor fusion using a Kalman filter. A differential encoder and the gyroscope error models are developed for the filter. An indirect Kalman filter scheme is adopted to reduce the computational burden and to enhance the navigation system reliability. The filter mutually compensates the encoder errors and the gyroscope errors. The experimental results show that the proposed mobile . robot navigation algorithm provides the reliable position and heading angle of the mobile robot without any help of the external positioning systems.

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Fuzzy Inference System for Data Calibration of Gyroscope Free Inertial Navigation System (Gyroscope Free 관성 항법 장치의 데이터 보정을 위한 퍼지 추론 시스템)

  • Kim, Jae-Yong;Kim, Jung-Min;Woo, Seung-Beom;Kim, Sung-Shin
    • Journal of the Korean Institute of Intelligent Systems
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    • v.21 no.4
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    • pp.518-524
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    • 2011
  • This paper presents a study on the calibration of accelerometer data in the gyroscope free inertial navigation system(GFINS) using fuzzy inference system(FIS). The conventional INS(inertial navigation system) which can measure yaw rate and linear velocity using inertial sensors as the gyroscope and accelerometer. However, the INS is difficult to design as small size and low power because it uses the gyroscope. To solve the problem, the GFINS which does not have the gyroscope have been studied actively. However, the GFINS has cumulative error problem still. Hence, this paper proposes Fuzzy-GFINS which can calibrate the data of an accelerometer using FIS consists of two inputs that are ratio between linear velocity of the autonomous ground vehicle(AGV) and the accelerometer and ratio between linear velocity of the encoders and the accelerometer. To evaluate the proposed Fuzzy-GFINS, we made the AGV with Mecanum wheels and applied the proposed Fuzzy-GFINS. In experimental result, we verified that the proposed method can calibrate effectively data of the accelerometer in the GFINS.

State Feedback Controller Design for Control Moment Gyroscope (Control Moment Gyroscope의 상태되먹임 제어기 설계)

  • Kim, Tae-Yeon;Lyou, Joon
    • Proceedings of the KIEE Conference
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    • 2007.10a
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    • pp.70-71
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    • 2007
  • This paper presents an application of LQR(Linear Quadratic Regulator) for experimental control moment gyroscope. To be specific, mathematical model is first derived based on the quaternion and Lagrange's equation, state feedback controller using LQR scheme is designed, and to show the stability of the scheme, experimental results are given.

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