• 제목/요약/키워드: INS

검색결과 1,135건 처리시간 0.031초

저급 프로세서에 적용 가능한 무인기용 GPS/INS 고장검출 알고리즘 구현 (A Realization of Applicable GPS/INS Fault Detection Algorithm for UAV using Low Grade Processor)

  • 유장식;안종선;성상경;이영재;천세범
    • 한국항공우주학회지
    • /
    • 제38권8호
    • /
    • pp.781-789
    • /
    • 2010

  • GPS/INS 통합시스템의 고장검출에는 카이제곱 분포 기반의 알고리즘이 일반적으로 사용된다. 본 논문에서는 기존의 RAIM (Receiver Autonomous Integrity Monitor)과 카이제곱 분포 기반의 알고리즘을 결합하여 무인기용 저급 프로세서에 적용하기 위해 단순화시킨 GPS/INS 고장검출 알고리즘을 제안한다. 제안한 알고리즘의 검증을 위해 고장모델을 사용하여 그 결과를 나타내었다.

  • https://doi.org/10.5139/JKSAS.2010.38.8.781 인용 PDF KSCI

A Calibration Method for Six-Accelerometer INS

  • Hung Chao-Yu;Lee Sou-Chen
    • International Journal of Control, Automation, and Systems
    • /
    • 제4권5호
    • /
    • pp.615-623
    • /
    • 2006

  • The gyroscope free strap-down INS is composed only of accelerometers. Any gyroscope free INS navigation error is deeply affected by the accuracy of the sensor bias, scale factor, orientation and location error. However these parameters can be found by calibration. There is an important research issue about a multi-position calibration method in this paper. It provides a novel method to find the error parameters for the six-accelerometer INS. A superior simulation is shown that the multi-position calibration can find the specifications of a six-accelerometer INS in laboratory. From these parameters the six-accelerometer INS could apply in realistic navigation.

  • PDF KSCI

INS 속도 정보를 사용한 GPS 반송파 추적 루프의 성능 향상 (Performance Improvement of INS Velocity-aided GPS Carrier Tracking Loop)

  • 김정원;이상정;황동환
    • 제어로봇시스템학회논문지
    • /
    • 제12권8호
    • /
    • pp.739-745
    • /
    • 2006

  • This paper presents performance improvement of the INS velocity-adided GPS carier tracking loop. To this end, INS velocity-aided GPS carrier tracking loop was modeled as a feedfoward and a feedback loop system. In the phase tracking loop, it was shown that the tracking error caused by the dynamic motion of the vehicle can be compensated with the aiding of the INS information irrespective of the loop order and bandwidth. However, the signal trcking error increases as the INS error increases. It was also shown that in order to remove the tracking error caused by INS bias error, more than or equal to 2nd order PLL should be used. Experiments were carried out and the experimental results were compared with the analysis results.

  • https://doi.org/10.5302/J.ICROS.2006.12.8.739 인용 PDF KSCI

A Compensator to Advance Gyro-Free INS Precision

  • Hung Chao-Yu;Fang Chun-Min;Lee Sou-Chen
    • International Journal of Control, Automation, and Systems
    • /
    • 제4권3호
    • /
    • pp.351-358
    • /
    • 2006

  • The proposed inertial measurement unit (IMU) is composed of accelerometers only. It can determine a vehicle's position and attitude, which is the Gyro-free INS. The Gyro-free INS error is deeply affected by the sensor bias, scale factor and misalignment. However, these parameters can be obtained in the laboratory. After these misalignments are corrected, the Gyro-free strap-down INS could be more accurate. This paper presents a compensator design for the strap-down six-accelerometer INS to correct misalignment. A calibration experiment is taken to get the error parameters. A simulation results show that it will decrease the INS error to enhance the performance after compensation.

  • PDF KSCI

Immunopathogenesis of childhood idiopathic nephrotic syndrome

  • Hae Il Cheong
    • Childhood Kidney Diseases
    • /
    • 제27권1호
    • /
    • pp.1-10
    • /
    • 2023

  • Pediatric nephrotic syndrome (NS) is a clinical syndrome characterized by massive proteinuria, hypoalbuminemia, and generalized edema. Most childhood NS cases are idiopathic (with an unknown etiology). Traditional therapeutic approaches based on immunosuppressive agents largely support the key role of the immune system in idiopathic NS (INS), especially in the steroid-sensitive form. Although most previous studies have suggested the main role of T cell dysfunction and/or the abnormal secretion of certain glomerular permeability factors, recent studies have emphasized the role of B cells since the therapeutic efficacy of B cell depletion therapy in inducing and/or maintaining prolonged remission in patients with INS was confirmed. Furthermore, several studies have detected circulating autoantibodies that target podocyte proteins in a subset of patients with INS, suggesting an autoimmune-mediated etiology of INS. Accordingly, a new therapeutic modality using B cell-depleting drugs has been attempted, with significant effects in a subset of patients with INS. Currently, INS is considered an immune-mediated disorder caused by a complex interplay between T cells, B cells, soluble factors, and podocytes, which may vary among patients. More in-depth investigations of the pathogenic pathways of INS are required for an effective personalized therapeutic approach and to define precise targets for therapeutic intervention.

  • https://doi.org/10.3339/ckd.22.042 인용 PDF