• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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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.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.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.

• 공업화학
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• 제9권3호
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• pp.445-450
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• 1998

에폭시수지와 caster oil(CO)형 폴리우레탄(PU)은 상호침투고분자(IPNs)를 형성하였다. 사슬연장제인 polypropylene ether glycol(PPG)와 가교제인 CO를 사용하여 두 종류의 폴리우레탄을 제조했다. CO를 이용한 COPU/epoxy의 동시중합 상호침투고분자(SINs)는 PPG를 이용한 PPGPU/epoxy SINs보다 상용성이 좋았다. PPGPU/epoxy SINs의 전조성에서 가교구조의 얽힘정도가 감소함에 따라 굴곡강도가 감소하였다. COPU/epoxy SINs은 PPGPU/epoxy SINs에 비해 기계적 물성과 파괴인성이 우수하였다. 실험 결과, 모든 SINs의 파괴단면에서 폴리우레탄의 공동화에 의한 응력백화 현상보다는 전단변형과 크랙의 편향이 관찰되었다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.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.

• 한국군사과학기술학회지
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• 제21권6호
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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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• 제64권1호
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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.

• 한국항행학회논문지
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• 제22권6호
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• pp.500-506
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• 2018

본 논문에서는 유도탄의 정확한 자세를 알기 위해 주 관성항법장치와 유도탄 내부 관성항법장치를 이용하는 one-shot 정렬에 대해 고려하였다. One-shot정렬을 수행하기 위해서는 주 관성항법장치와 부 관성항법장치 사이의 비정렬각을 구해야 되는데, 장입유도탄과 부 관성항법장치 사이의 비정렬각을 구하여 보상하면 된다. 비정렬각은 장입유도탄의 롤 회전을 이용하여 산출되며, 장입유도탄을 회전하기 위한 정렬용 치구, 장입유도탄의 수평 상태를 측정하기 위한 수평각도계와 인터페이스 구조물이 제작되었다. TAS(tilt angle save) 점검 결과, 비정렬각 ${\alpha}$, ${\beta}$, ${\gamma}$ 값이 정상 범위이며 이 값을 보상하여 one-shot 정렬을 수행할 수 있다.

• 공업화학
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• 제10권5호
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• pp.639-643
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• 1999

동시중합방법으로 에폭시수지와 castor oil형 폴리우레탄수지로 상호침투고분자(IPNs)를 형성하였다. 사슬연장제인 1,4-butanediol (BD)가 가교제인 BD/trimethylolpropane(TMP)에 따라 두 종류의 폴리우레탄(PU)을 제조했다. PU가 증가함에 따라, BD를 사슬연장제로 사용한 PU/epoxy가 BD/TMP를 가교제로 사용한 PU/epoxy SINs보다 damping피크의 이동이 컸다. BDPU/epoxy SINs는 BD/TMP-PU/epoxy SINs에 비해 사용성이 좋았다. 이러한 두 구조에서, 사슬연장제와 가교제에 따라 PU/epoxy SINs의 특이한 netwok 형성이 상혼합의 정도를 변화시켰음을 가정하였다. PU의 사슬연장제의 종류가 IPNs의 상혼합을 결정하는 중요한 인자였다. BD/TMP-PU의 반응이 에폭시수지의 가교반응보다 빠를 때, 가교구조의 entanglement가 감소하여 상혼합정도가 감소하였다. 두 PU/epoxy SINs는 굴곡특성과 파괴인성이 증가하였다. BDPU/epoxy SINs와 BD/TMP-PU/epoxy SINs의 파괴단면에서 PU의 공동화에 의한 응력백화현상과 전단변형을 보였다.

• 품질경영학회지
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• 제49권3호
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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.

• 한국군사과학기술학회지
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• 제26권3호
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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.