• 전기학회논문지
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• 제67권12호
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• pp.1648-1656
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• 2018

The configuration of redundant inertial sensors are very important when considering navigation performance and fault detection and isolation (FDI) performance. By constructing a redundant sensor system using multiple inertial sensors, it is possible to improve the navigation performance and fault detection and isolation performance, which are highly related to the sensor configuration and allocation. In order to deploy multiple MEMS inertial measurement units effectively, a configuration and allocation methods considering navigation performance, fault detection and isolation performance, and lever arm effect in one plane are presented, and the performance is analyzed through simulation in this research. From the results, it is confirmed that the proposed configuration and allocation method can improve navigation, FDI, and lever arm effect rejection performances more effectively by more than 70%.

• Journal of Positioning, Navigation, and Timing
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• 제11권3호
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• pp.199-208
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• 2022

Inertial Navigation System (INS)/Global Navigation Satellite System (GNSS) integrated navigation system can be used for land vehicle navigation. When the GNSS signal is blocked in a dense urban area or tunnel, however, the problem of increasing the error over time is unavoidable because navigation must be performed only with the INS. In this paper, Non-Holonomic Constraints (NHC) information is utilized to solve this problem. The NHC may correct some of the errors of the INS. However, it should be noted that NHC information is not applicable to all areas within the vehicle. In other words, the lever arm effect occurs according to the distance between the Inertial Measurement Unit (IMU) mounting position and the NHC effective point, which causes the NHC condition not to be satisfied at the IMU mounting position. In this paper, an INS/GNSS/NHC integrated navigation filter is designed, and this filter has a function to compensate for the lever arm effect. Therefore, NHC information can be safely used regardless of the vehicle's driving environment. The performance of the proposed technology is verified through Monte-Carlo simulation, and the performance is confirmed through experimental test.

• 전자공학회논문지
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• 제50권1호
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• pp.276-284
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• 2013

본 논문에서는 관성항법시스템의 전달정렬시 속도정합 알고리듬에 대하여 지렛대 거리 오차의 가관측성 분석을 수행하였다. 이를 위해 지렛대 거리 오차를 포함한 칼만필터 상태 변수를 모델링하였고 측정 방정식을 구성하였다. 가관측성 분석 방법으로는 SOM을 이용하였고 다양한 항체의 운항 조건들에 대하여 가관측성 분석을 수행하였다. 기존의 지렛대 거리 오차를 포함한 가관측성 분석 기법들은 시뮬레이션을 통한 분석이 주를 이룬 반면에 본 논문에서는 상태 변수들이 완전 가관측하기 위한 항체의 운항 조건을 해석적으로 제시하였다. 그리고 시뮬레이션을 수행하여 분석 결과를 검증하였다.

• International Journal of Control, Automation, and Systems
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• 제4권2호
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• pp.247-254
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• 2006

For more accurate navigation, lever arm compensation is considered. The compensation method for GPS and an odometer is introduced and new compensation methods are proposed for an odometer to consider the effect of coordinate transformation errors and the scale factor error. The methods are applied to a GPS/INS/odometer integrated system and the simulation and experimental results show its effectiveness.

• International Journal of Naval Architecture and Ocean Engineering
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• 제6권3호
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• pp.626-637
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• 2014

On ship, especially on large ship, the flexure deformation between Master (M)/Slave (S) Inertial Navigation System (INS) is a key factor which determines the accuracy of the integrated system of M/S INS. In engineering this flexure deformation will be increased with the added ship size. In the M/S INS integrated system, the attitude error between MINS and SINS cannot really reflect the misalignment angle change of SINS due to the flexure deformation. At the same time, the flexure deformation will bring the change of the lever arm size, which further induces the uncertainty of lever arm velocity, resulting in the velocity matching error. To solve this problem, a $H_{\infty}$ algorithm is proposed, in which the attitude and velocity matching error caused by deformation is considered as measurement noise with limited energy, and measurement noise will be restrained by the robustness of $H_{\infty}$ filter. Based on the classical "attitude plus velocity" matching method, the progress of M/S INS information fusion is simulated and compared by using three kinds of schemes, which are known and unknown flexure deformation with standard Kalman filter, and unknown flexure deformation with $H_{\infty}$ filter, respectively. Simulation results indicate that $H_{\infty}$ filter can effectively improve the accuracy of information fusion when flexure deformation is unknown but non-ignorable.

• 대한치과교정학회지
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• 제50권1호
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• pp.26-32
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• 2020

Objective: The Heat Induction Typodont System (HITS), used in some recent studies, has a distinct advantage over previous tooth movement simulation methods. This study aimed to compare inclination and vertical changes between the single-wire and double-wire techniques during en masse retraction with different lengths of lever arms in lingual orthodontics using an upgraded version of the HITS. Methods: Duet lingual brackets, which have two main slots, were used in this study. Forty samples were divided into four groups according to the length of the lever arm (3-mm or 6-mm hook) and the retraction wire (single-wire or double-wire). Four millimeters of en masse retraction was performed using lingual appliances. Thereafter, 3-dimensional-scanned images of the typodont were analyzed to measure inclination and vertical changes of the anterior teeth. Results: Incisor inclination presented more changes in the single-wire groups than in the double-wire groups. However, canine inclination did not differ between these groups. Regarding vertical changes, only the lateral incisors in the single-wire groups presented significantly larger values than did those in the double-wire groups. Combining the effect of hook lengths, among the four groups, the single-wire group with the 3-mm hook had the highest value, while the double-wire group with the 6-mm hook showed the least decrease in crown inclination and extrusion. Conclusions: The double-wire technique with an extended lever arm provided advantages over the single-wire technique with the same lever arm length in preventing torque loss and extrusion of the anterior teeth during en masse retraction in lingual orthodontics.

• Journal of Positioning, Navigation, and Timing
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• 제12권2호
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• pp.213-213
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• 2023

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2008년도 추계 학술발표회 제20권2호
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• pp.847-850
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• 2008

집중하중을 받는 콘크리트 보 부재의 경우 전단 경간에서 내부 모멘트 팔길이가 변화하는 아치 현상이 발생하게 된다. 최근 이러한 점을 고려한 전단해석모델이 개발되었으나, 복부 요소의 전단 거동해석에 있어서 그 해석 과정이 매우 복잡할 뿐만 아니라 철근의 재료 성질을 항복 후 완전 소성거동을 보이는 것으로 간주하여 해석할 수밖에 없는 단점을 지니고 있다. 또한, 아치 작용에 의한 전단력의 비율을 산정하는데 있어 이용되는 전단변형적합조건에서 내부 모멘트 팔길이의 변화가 고려되어 있지 않아 전단경간에 따른 전단변형률의 분포가 실험으로부터 측정되는 분포 경향과 일치하지 않는 단점이 있다. 이에 본 연구에서는 기존의 아치 효과를 고려한 콘크리트 보 부재의 전단해석모델에서 복부 요소의 전단 해석을 좀 더 간편화하여 일반적인 철근의 재료 모델을 적용할 수 있도록 하였다. 또한, 내부 모멘트 팔길이의 변화를 고려한 전단변형적합조건을 유도하여 실제 보 부재의 전단 경간에서의 변형률의 경향을 보다 잘 묘사할 수 있는 전단해석모델을 제시하였다. 제시된 전단해석모델은 집중하중을 받는 콘크리트 보 부재의 전단 거동 예측에 유용할 것으로 사료된다.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2008년도 추계 학술발표회 제20권2호
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• pp.181-184
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• 2008

단순지지된 콘크리트 보 부재의 경우 전단 경간에서 내부 모멘트 팔길이가 변화하는 아치 현상이 발생하게 된다. 최근 이러한 점을 고려한 전단해석모델이 개발되었으나 집중 하중에 대해서만 적용할 수 있어 등분포 하중과 같은 보다 일반적인 하중에 대해서는 적용할 수 없는 실정이다. 따라서 본 연구에서는 일반적인 분포하중에 대해 내부 모멘트 팔길이의 변화에 대한 기본 식을 유도하고, 특히 등분포하중이 작용할 경우 아치 작용에 의한 전단력의 비율을 산정하는데 있어 이용되는 전단변형적합 조건을 도출하였다. 제안된 해석 모델을 이용하여 기존 연구자가 수행했던 RC보를 해석하여 그 경향을 분석한 결과, 등분포하중을 받는 RC보의 경간에 따른 전단변형률의 변화를 어느 정도 잘 묘사하는 것으로 나타났다. 하지만, 전단변형률이 작게 예측되는 것으로 보아 아치 작용에 의한 전단력의 영향을 추가적으로 고려해야 할 것으로 사료된다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.142-146
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• 1991

In order to develope transfer alignment algorithm which achieves accurate initial alignment of slave strapdown inertial navigation system(SDINS) of a missle using master SDINS of mobile launchers third-order suboptimal filter is constructed to estimate the transformation matrix between two SDINS coordinates. In Kalman Filter formulation, the measurement equation uses that of accelerometer when stationary, and is replaced by that of gyroscope when elevating the missle. This switching method is applied to increase the degree of observability and to remove the error generated by lever arm effect. Simulation results show that the azimuth transfer error is about 0.3 mrad, and confirm that this scheme has a potential for real application.