• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2002년도 추계학술대회논문집
• /
• pp.848-851
• /
• 2002

In this paper, an experimental method using a reference accelerometer has been developed to measure the in-plane vibration intensity of a beam. It has the advantages of reducing accelerometer phase error comparing with the cross spectral intensity measurement technique using an accelerometer array. It needs no measurement of the input force required in the frequency response method using the only one accelerometer This method has been used to measure the in-plane vibration intensity over the beam. The result has been compared with an input power and the vibration intensity obtained with other methods. It showed that the present experimental method can be effectively used to measure the structural in-plane vibration intensity.

• 한국음향학회지
• /
• 제24권7호
• /
• pp.371-378
• /
• 2005

본 연구에서는 면내 진동하는 감쇠 단을 갖는 보에서 진동파워의 크기와 방향을 나타내는 면내 진동인텐시티를 측정하였다. 보의 면내 진동인텐시티 측정 방법으로서 3가지 다양한 방법을 적용하였다. 이러한 방법들은 2개의 가속도계 선형 배열을 이용하는 가속도계배열법과 하나의 가속도계를 갖고 주파수응답함수를 이용하는 주파수응답함수법 그리고 기준 가속도를 고정시키고 다른 하나의 가속도계를 이용하는 기준가속도계법 들이다. 본 연구에서는 이러한 방법들을 적용하여 보의 진동인텐시티 공간 분포를 측정하여 비교하였으며, 또한 가진 점에서 주어지는 입력 파워와 비교를 통하여 적용 가능성을 확인하였다. 이러한 결과들로부터 보의 면내 진동인텐시티를 측정하기 위하여 가속도계배열법뿐만이 아니라 주파수응답함수법과 기준가속도계법 또한 효과적으로 사용될 수 있음을 보였다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
• /
• pp.54-58
• /
• 1989

The purpose of this paper is to develop a more accurate attitude algorithm with low grade gyro output. The proposed algorithm estimates attitudes by combining accelerometer and gyro output. For performance improvement of the algorithm, a method of velocity compensation is proposed for a better attitude estimation which is calculated from the accelerometer output. Velocity compensation is done by using Kalman Filter to estimate another velocity component.

• Journal of Electrical Engineering and Technology
• /
• 제11권2호
• /
• pp.508-518
• /
• 2016

In this paper, we propose a method combining an accelerometer with a cross structured light system to estimate the golf green slope. The cross-line laser provides two laser planes whose functions are computed with respect to the camera coordinate frame using a least square optimization. By capturing the projections of the cross-line laser on the golf slope in a static pose using a camera, two 3D curves’ functions are approximated as high order polynomials corresponding to the camera coordinate frame. Curves’ functions are then expressed in the world coordinate frame utilizing a rotation matrix that is estimated based on the accelerometer’s output. The curves provide some important information of the green such as the height and the slope’s angle. The curves estimation accuracy is verified via some experiments which use OptiTrack camera system as a ground-truth reference.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.91-91
• /
• 2000

In this paper, the error compensation method of the attitude reference system with low-cost IMU is proposed. In general, the attitude error calculated by gyro grows with time. Therefore the additional information is required to compensate the drift. The attitude angles can be bound by accelerometer mixing algorithm and the heading angle can be aided by GPS velocity information. The Kalman filter is used for error compensation. The result is verified by comparing with the attitude calculated by medium-grade IMU, LP-81.

• 한국지진공학회논문집
• /
• 제25권6호
• /
• pp.275-281
• /
• 2021

In this study, algorithms for analyzing the torsion of buildings under earthquake excitation are developed. The algorithm and formulations to account for the torsional angle are verified by analyzing the seismic acceleration time history data. The method was applied to the reference buildings to examine their operation and usability. The reference application demonstrated that the noise-canceling scheme successfully overcame various obstacles in the field measurements. The developed method is expected to be used as a tool to support a loss assessment system for determining the direction and priority of disaster response in the event of an earthquake.

• 제어로봇시스템학회논문지
• /
• 제14권9호
• /
• pp.881-885
• /
• 2008

To calculate the attitude in ARS(Attitude Reference System) using 3 gyros and 3 accelerometers, gyro drift must be compensated with accelerometer to avoid divergence of attitude error. Kalman filter is most popular method to integrate those two sensor outputs. In this paper, new Kalman filtering method is proposed for roll and pitch attitude estimation. New states are defined to make linear equation and algorithm for changing Kalman filter parameters is proposed to ignore disturbances of acceleration. This algorithm can be easily applied to low cost ARS.

• 제어로봇시스템학회논문지
• /
• 제22권1호
• /
• pp.66-73
• /
• 2016

An Inertial Measurement Unit (IMU)-based Attitude and Heading Reference System (AHRS) can calculate attitude and heading information with long-term accuracy and stability by combining gyro, accelerometer, and magnetic compass signals. Motivated by this characteristic of the AHRS, this paper presents a Motion-Tracking and Localization (MTL) method for a person or walking robot using multi-AHRSs. Five AHRSs are attached to the two calves, two thighs, and waist of a person/walking robot. Joints, links, and coordinate frames are defined on the body. The outputs of the AHRSs are integrated with link data. In addition, a supporting foot is distinguished from a moving foot. With this information, the locations of the joints on the local coordinate frame are calculated. The experimental results show that the presented MTL method can track the motion of and localize a person/walking robot with long-term accuracy in an infra-less environment.

• 한국측량학회:학술대회논문집
• /
• 한국측량학회 2004년도 춘계학술발표회논문집
• /
• pp.59-64
• /
• 2004

In this paper, the error compensation method of the low-cost IMU is proposed. In general, the position and attitude error calculated by accelerometers and gyros grows with time. Therefore the additional information is required to compensate the drift. The attitude angles can be bound accelerometer mixing algorithm and the heading angle can be aided by single antenna GPS velocity. The Kalman filter is used for error compensation. The result is verified by comparing with the attitude calculated by Attitude Heading Reference System with Micro Electro Mechanical System for a basis

• 한국정보통신학회논문지
• /
• 제15권12호
• /
• pp.2511-2520
• /
• 2011

본 논문은 다중 센서 융합의 성능을 높이기 위해 적응형 퍼지-칼만 필터를 적용하고 교차검증법(cross-validation)으로 퍼지시스템 입 출력 소속 함수의 매개변수를 조정하는 방법을 제안한다. 적응형 퍼지-칼만 필터는 가속도의 변화량과 칼만 필터의 잔여오차를 입력으로 시스템잡음, 측정잡음을 추정하여 칼만 이득을 변화시킨다. 적용된 퍼지-칼만 필터는 잡음들을 가우시안 분포로 가정한 이전 방법과 비교하여 비선형/비가우시안 잡음에 강인한 추정 결과를 보여준다. 본 논문에서 제안한 퍼지-칼만 필터를 평가하기 위해 가속도센서/자이로센서를 융합하여 2축 자세추정시스템(Attitude Heading Reference System)을 설계하였고 무인항공기에 사용되는 자세추정센서 NAV420CA-100과 비교하여 성능을 검증하였다.