• 한국군사과학기술학회지
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• 제11권4호
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• pp.116-123
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• 2008

In this paper we study the performance of the measurement time-delay estimation of tightly-coupled GPS/INS(Global positioning system/Inertial Navigation system) system. Generally, the heading error estimation performance of loosely-coupled GPS/INS system using GPS's Navigation Solution is poor. In the case of tightly-coupled GPS/INS system using pseudo-range and pseudo-range rate, the heading error estimation performance is better. However, the time-delay error on the measurement(pseudo-range rate) make the heading error estimation performance degraded. So that, we propose the time-delay model on the measurement and compose the time-delay estimator. And we confirm that the heading error estimation performance in the case of measurement time-delay existence is similar with the case of no-delay by Monte-Carlo simulation.

• 한국군사과학기술학회지
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• 제14권4호
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• pp.684-693
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• 2011

Measurement time delay in the transfer alignment is very important. It has been well known that the time delay degrades the alignment performance and makes some navigation errors on the transfer alignment of slave INS(SINS). Therefore there are many schemes to eliminate that time delay but the compensation technique through the estimation by Kalman filter through modeling the time delay as a random constant is generally used. In the case of change over measurement time delay or the large measurement time delay, estimation performance in the existing compensation technique is degraded because model of time delay is not correct any more. In this paper, we propose the method to keep the time delay almost constant even though in the abnormal communication state and very small through feedback compensation using double buffer. Double buffer consists of two moving window to temporarily store measurements from master INS and slave INS in real time.

• 제어로봇시스템학회논문지
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• 제7권11호
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• pp.953-957
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• 2001

This paper is concerned with a transfer alignment method for the SDINS under ship motions. Major error sources of transfer alignment are data transfer time-delay, lever-arm velocity and ship body flexure. Specifically, to reduce alignment errors induced by measurement time-delay effects, the error compensation method through delay state augmentation is suggested. A linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonliner measurement equation with respect to its time delay and augmenting the delay state into the conventional linear state equations. And then it is shown via observability analysis and computer simulations that the delay state can be estimated and compensated during ship motions resulting in considerably less alignment errors.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.486-486
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• 2000

This paper is concerned with a transfer alignment method for the SDINS(StrapDown Inertial Navigation System) under ship motions. Major error sources of transfer alignment are data transfer time-delay, lever-arm velocity and ship body flexure. Specifically, to reduce alignment errors induced by measurement time-delay effects, the error compensation method through delay state augmentation is suggested. A linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonlinear measurement equation with respect to its time delay and augmenting the delay state into the conventional linear state equations. And then it is shown via observability analysis and computer simulations that the delay state can be estimated and compensated during ship motions resulting in considerably less alignment errors.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.385-388
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• 1996

A time delay controller with state feedback is proposed for azimuth motion control of the frictionless positioning device which is subject to the variations of inertia in the presence of measurement noise. The time delay controller, which is combined with a low-pass filter to attenuate the effect of measurement noise, ensures the asymptotic stability of the closed loop system. It is found that the low-pass filter tends to increase the robustness in the design of time delay controller as well as the gain and phase margins of the closed loop system. Numerical and experimental results support that the proposed controller guarantees a good tracking performance irrespective of the variation of inertia and the presence of measurement noise.

• 한국통신학회논문지
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• 제37권5B호
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• pp.365-369
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• 2012

동기식 고속 광전송망에서 망간 delay보상을 통한 동기제어는 매우 중요하다. 본 연구에서는 광선로의 길이에 따른 time delay를 보상하기 위하여 Rayleigh 산란광을 이용한 OTDR방식의 delay 측정장치를 제작하여 평균화 횟수와 광펄스의 peak power에 따른 파형변화를 관찰하고 기존에 활용되고 있는 방식과의 정확도에 대한 비교측정을 통해 실제 시스템에 적용타당성에 대한 검증실험을 실시한 결과 최대 0.06usec 이내의 측정오차와 0.021usec의 측정표준편차로서 이동통신 광중계기와 기지국 장비간 delay 제어에 적용이 가능함을 확인하였다.

• 한국군사과학기술학회지
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• 제4권1호
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• pp.225-233
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• 2001

This paper deals with the transfer alignment problem of SDINS(StrapDown Inertial Navigation System) subjected to roll and pitch motions of the ship. Specifically, to reduce alignment errors induced by measurement time-delay and ship body flexure, an error compensation method is suggested based on delay state augmentation and DCM(Direction Cosine Matrix) partial matching. A linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonlinear measurement equation with respect to its time delay and augmenting the delay state into the conventional linear state equations. And then DCM partial matching is properly combined to reduce effects of a ship's Y axis flexure. The simulation results show that the suggested method is effective enough resulting in considerably less azimuth alignment errors.

• ETRI Journal
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• 제32권6호
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• pp.854-862
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• 2010

One-way delay variation (OWDV) has become increasingly of interest to researchers as a way to evaluate network state and service quality, especially for real-time and streaming services such as voice-over-Internet-protocol (VoIP) and video. Many schemes for OWDV measurement require clock synchronization through the global-positioning system (GPS) or network time protocol. In clock-synchronized approaches, the accuracy of OWDV measurement depends on the accuracy of the clock synchronization. GPS provides highly accurate clock synchronization. However, the deployment of GPS on legacy network equipment might be slow and costly. This paper proposes a method for measuring OWDV that dispenses with clock synchronization. The clock synchronization problem is mainly caused by clock skew. The proposed approach is based on the measurement of inter-packet delay and accumulated OWDV. This paper shows the performance of the proposed scheme via simulations and through experiments in a VoIP network. The presented simulation and measurement results indicate that clock skew can be efficiently measured and removed and that OWDV can be measured without requiring clock synchronization.

• 한국군사과학기술학회지
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• 제20권1호
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• pp.25-32
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• 2017

Most of weapon systems use aided navigation system which integrates inertial navigation and aiding sensors to compensate the INS errors increasing with the passage of time. Various aid sensors can be applied such as Global Navigation Satellite System (GNSS), radar, barometer, etc., but there might exist time delay caused by signal processing or transferring aid information. This time delay leads out-of-sequence measurements (OOSM) systems. Previously, optimal and suboptimal measurment update method for OOSM systems, where the time delay length are known, are proposed. However, previous algorithm does not guarantee the positive definite property of covariance matrix. In order to improve numerical stability for aided navigation using delayed-measurement, this paper proposes a new measurement covariance update algorithm be similar to Joseph-form in Kalman filter. Futhermore, we propose how to implement it in indirect feedback Kalman filter structure, which is commonly used in aided navigation systems, for time-delayed measurement systems. Simulation and vehicle test results show effectiveness of a proposed algorithm.

• 정보처리학회논문지C
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• 제12C권3호
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• pp.437-442
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• 2005

인터넷 망의 종단간 혼잡상태를 유추할 수 있는 가장 일반적인 방법은 RTT (Round Trip Time)값을 측정하는 것이며, 이 방법으로 망의 흔잡 정도를 측정할 수 있다. 그러나 RTT는 패킷의 왕복 시간만을 측정하기 때문에 패킷의 송수신시 순방향과 역방향에서 어느 정도의 혼잡과 전송지연이 발생하였는가는 알 수가 없다. 본 논문에서는 패킷이 전송될 때 순방향/역방향 전송 지연을 계산하여, 망의 흔잡 상태를 정확하게 유추할 수 있는 새로운 알고리즘을 제시한다. 본 알고리즘에서는 여러 RTT 값들 중에서 가장 작은 RTT 값을 기준으로 하여 기준이 되는 순방향/역방향 전송 시간을 결정하고, 이 값과 각 패킷이 전송될 때 측정된 전송 시간을 비교하여 순방향/역방향 전송 지연 시간을 계산한다. 본 연구에서는 NS-2에서의 시뮬레이션과 실제 네트워크 상에의 측정을 통하여 제안된 방법의 올바른 동작을 확인하였다.