• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.241-245
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• 2005

Strapdown inertial navigation system (SINS) integrated with astronavigation system (ANS) yields reliable mission capability and enhanced navigational accuracy for spacecrafts. The theory and characteristics of integrated system based on unscented Kalman filtering is investigated in this paper. This Kalman filter structure uses unscented transform to approximate the result of applying a specified nonlinear transformation to a given mean and covariance estimate. The filter implementation subsumed here is in a direct feedback mode. Axes misalignment angles of the SINS are observation to the filter. A simple approach for simulation of axes misalignment using stars observation is presented. The SINS error model required for the filtering algorithm is derived in space-stabilized mechanization. Simulation results of the integrated navigation system using a medium accuracy SINS demonstrates the validity of this method on improving the navigation system accuracy with the estimation and compensation for gyros drift, and the position and velocity errors that occur due to the axes misalignments.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.355-359
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• 2006

For the poor observability of azimuth misalignment angle and east gyro drift rate of the traditional initial alignment, a bran-new SINS stationary fast self-alignment approach is proposed. By means of analyzing the characteristic of the strapdown inertial navigation system (SINS) stationary alignment seriously, the new approach takes full advantage of the specific force and angular velocity information given by inertial measurement unit (IMU) instead of the mechanization of SINS. Firstly, coarse alignment algorithm is presented. Secondly, a new fine alignment model for SINS stationary self-alignment is derived, and the observability of the model is analysed. Then, a modified Sage-Husa adaptive Kalman filter is introduced to estimate the misalignment angles. Finally, some computer simulation results illustrate the efficiency of the new approach and its advantages, such as higher alignment accuracy, shorter alignment time, more self-contained and less calculation.

• Applied Chemistry for Engineering
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• v.9 no.3
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• pp.445-450
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• 1998

Interpenetrating polymer networks(IPNs) were prepared from castor oil-type polyurethanes(PUs) and epoxy resin. Two types of PU were prepared by using polypropylene ether glycol(PPG) as a chain extending agent and caster oil(CO) as a crosslinking agent. COPU/epoxy simultaneous interpenetrating polymer networks(SINs) based on CO had a better compatibility over the all composition than PPGPU/epoxy SINs based on PPG. The flexural strength of all PPGPU/epoxy SINs was decreased with decreasing entanglement of networks. COPU/epoxy SINs showed the higher fracture toughness and mechanial properties than the PPGPU/epoxy SINs. Fracture surfaces of all of the SINs showed the localized shear deformation and crack deflection rather than generation of stress whitening associated with the cavitation.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.491-494
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• 2006

Kalman filtering (KF) is hard to be applied to the SINS (Strap-down Inertial Navigation System)/RDSS (Radio Determination Satellite Service) integrated navigation system directly because the time delay of RDSS positioning in active mode is random. BP (Back-Propagation) Neuron computing as a powerful technology of Artificial Neural Network (ANN), is appropriate to solve nonlinear problems such as the random time delay of RDSS without prior knowledge about the mathematical process involved. The new algorithm betakes a BP neural network (BPNN) and velocity feedback to aid KF in order to overcome the time delay of RDSS positioning. Once the BP neural network was trained and converged, the new approach will work well for SINS/RDSS integrated navigation. Dynamic vehicle experiments were performed to evaluate the performance of the system. The experiment results demonstrate that the horizontal positioning accuracy of the new approach is 40.62 m (1 ${\sigma}$), which is better than velocity-feedback-based KF. The experimental results also show that the horizontal positioning error of the navigation system is almost linear to the positioning interval of RDSS within 5 minutes. The approach and its anti-jamming analysis will be helpful to the applications of SINS/RDSS integrated systems.

• Journal of the Korea Institute of Military Science and Technology
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• v.21 no.6
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• pp.731-743
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• 2018

In this paper, a study result to decide the accuracy specifications of inertial sensors satisfying the performance requirements of SINS(ship's inertial navigation system) is proposed. To do this, the performance specifications of overseas SINS is surveyed and the detailed error analysis of SINS at stationary condition is performed. Also, a new performance index to indicate the performance of SINS is derived. Modelling and simulation results show that the accuracy specifications of inertial sensors to meet the performance requirements of SIGMA40XP, a typical overseas SINS, can be determined through the newly derived performance index in this paper.

• Journal of Korean Neurosurgical Society
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• v.64 no.1
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• pp.4-12
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• 2021

Spinal metastases can present with varying degrees of mechanical instability. The Spinal Instability Neoplastic Score (SINS) was developed as a tool to assess spinal neoplastic-related instability while helping to guide referrals among oncology specialists. Some previous papers suggested that the SINS was accurate and reliable, while others disagreed with this opinion. We performed a systematic review regarding the SINS to evaluate its accuracy and precision in predicting vertebral compression fractures (VCFs). The 21 included studies investigated a total of 2118 patients. Thirteen studies dealt with the accuracy of SINS to predict post-radiotherapy VCFs, and eight dealt with the precision. Among 13 studies, 11 agreed that the SINS categories showed statistically significant accuracy in predicting VCF. Among eight studies, body collapse was effective for predicting VCFs in six studies, and alignment and bone lesion in two studies. Location has no statistical significance in predicting VCFs in any of the eight studies. The precision of SINS categories was substantial to excellent in six of eight studies. Among the six components of the SINS, the majority of the included studies reported that location showed near perfect agreement; body collapse, alignment, and posterolateral involvement showed moderate agreement; and bone lesion showed fair agreement. Bone lesion showed significant accuracy in predicting VCFs in half of eight studies, but displayed fair reliability in five of seven studies. Although location was indicated as having near perfect reliability, the component showed no accuracy for predicting VCFs in any of the studies and deleting or modifying the item needs to be considered. The SINS system may be accurate and reliable in predicting the occurrence of post-radiotherapy VCFs for spinal metastasis. Some components seem to be substantially weak and need to be revised.

• Journal of Advanced Navigation Technology
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• v.22 no.6
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• pp.500-506
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• 2018

In this paper, we considered the one-shot alignment using master inertial navigation system (MINS) and slave inertial navigation system (SINS) in the missile to find the exact posture of a missile. In order to perform one-shot alignment, the tilt angle between MINS and SINS must be obtained, which can be compensated by obtaining the tilt angle between missile round and SINS. The tilt angle was calculated by using the roll rotation of missile round, jig for rotating the missile round and interface structure to measure the horizontal state by using a horizontal angle meter were constructed. As a result of the tilt angle save (TAS) inspection, the tilt angle ${\alpha}$, ${\beta}$, ${\gamma}$ is normal range and it is possible to perform one-shot alignment by compensating this value.

• Applied Chemistry for Engineering
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• v.10 no.5
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• pp.639-643
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• 1999

Interpenetrating polymer networks(IPNs) composed of castor oil(CO) polyurethane(PU) and epoxy resin were prepared by the simultaneous polymerization technique. Two types of PU were prepared using 1,4-butanediol(BD) and BD/trimethylolpropane(TMP) as a chain extending agent and crosslinking agent. The PU/epoxy based on BD as a chain extending agent showed more shift in the damping peak than PU/epoxy based on BD/TMP as the PU content was increased. BDPU/epoxy simultaneous interpenetrating polymer networks(SINs) had a better compatibility than BD/TMP-PU/epoxy SINs. For both systems, it was postulated that unique network formation of PU/epoxy SINs as a chain extending agent and crosslinking agent had occurred to a significant extent of phase mixing. The types of chain extender in the PU were found to be an important factor in determining the phase mixing of the IPNs. When the BD/TMP-PU reaction was faster than epoxy network, the extent of phase mixing was retarded by decreasing entanglement of networks. It was found that both PU/epoxy SINs provided enhanced flexural properties and fracture toughness, fracture surfaces of BDPU/epoxy and BD/TMP-PU/epoxy SINs showed the localized shear deformation and generation of stress whitening associated with the cavitation.

• Journal of Korean Society for Quality Management
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• v.49 no.3
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• pp.245-254
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• 2021

Purpose: In order to accurately reach an underwater projectile to a target point, reliable INS and accurate arrangement of INS between master and slave INS is paramount. Unlike terrestrial and aerial environments, underwater projectile will operates in a restricted environment where location information cannot be received or sent through satellites. In this report, we review the factors affecting the transfer alignment of master and slave INS, as well as how to improve the positional error between INS through improved transfer alignment algorithms. Methods: In this work, we propose an improvement algorithm and verify it through simulation and driving test. The simulation confirmed the difference in the transfer alignment azimuth by fitting the MINS and SINS indoors, displacement in posture, and the process of transfer alignment between MINS and SINS through a driving test to confirm algorithm can improve the arrangement. Results: According to this study, reason for the error in the transfer alignment between MINS/SINS is the factors of the system where movements such as roll, pitch, yaw are not inter locked in real time due to the delay in transmit/receive system. And confirm that the improved algorithm has a desirable effect on accuracy. Conclusion: Through this work, it is possible to identify ways to improve the accuracy of underwater projectiles to reach their target points under various underwater environments and launch condition.

• Journal of the Korea Institute of Military Science and Technology
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• v.26 no.3
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• pp.214-226
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• 2023

A transfer alignment is used to initialize, align, and calibrate a SINS(Slave INS) using a MINS(Master INS) in motion. This paper presents an airborne transfer alignment with velocity and azimuth matching to estimate inertial sensor biases under the wing flexure influence. This study also considers the lever arm, time delay and relative orientation between MINS and SINS. The traditional transfer alignment only uses velocity matching. In contrast, this paper utilizes the azimuth matching to prevent divergence of the azimuth when the aircraft is stationary or quasi-stationary since the azimuth is less affected by the wing flexibility. The performance of the proposed Kalman filter is analyzed using two factors; one is the estimation performance of gyroscope and accelerometer bias and the other is comparing aircraft dynamics and attitude covariance. The performance of the proposed filter is verified using a long term flight test. The test results show that the proposed scheme can be effectively applied to various platforms that require airborne transfer alignment.