• 한국군사과학기술학회지
• /
• 제26권3호
• /
• pp.214-226
• /
• 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.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.26-26
• /
• 2000

We study on the velocity matching algorithm for transfer alignment of inertial navigation system(INS) using robust H$_2$ filter. We suggest an uncertainty model for INS and apply the suggested discrete robust H$_2$ filter to the uncertainty model compared with kalman filter, the discrete robust H$_2$ filter is shown by simulation to have good performance of alignment time and accuracy.

• 제어로봇시스템학회논문지
• /
• 제7권12호
• /
• pp.1044-1050
• /
• 2001

This paper presents firstly the method of Euler angle matching designing the transfer alignment using the attitude matching. In this method, the observation directly uses Euler angle difference between MINS and SINS so it needs to describe the rotation vector error to the Euler angle error. The rotation vector error related to the Euler angle error is derive from the direction cosine matrix error equation. The feasibility of the Kalman filter designed for the transfer alignment by Euler angle matching is analyzed by the alignment error results with respect to the roll angle the pitch angle, and the yaw angle matching.

• 전기학회논문지
• /
• 제64권12호
• /
• pp.1742-1747
• /
• 2015

An improved transfer alignment method for a strap-down inertial navigation system (SDINS) is presented here. The alignment accuracy in conventional method is vulnerable to the data latency of a Master INS (MINS) in high maneuverable platforms. We propose a time delay compensation equation considering higher-order terms in the attitude measurement equation of the Kalman filter. The equation incorporates additional information including angular rate, angular acceleration and linear acceleration from the MINS. Simulation results show that the transfer alignment accuracy is significantly improved in the high dynamic environment by incorporating the latency compensation technique.

• 품질경영학회지
• /
• 제49권3호
• /
• pp.245-254
• /
• 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.

• 대한설비공학회:학술대회논문집
• /
• 대한설비공학회 2005년도 동계학술발표대회 논문집
• /
• pp.274-280
• /
• 2005

The objective of this study Is to investigate the heat transfer performance of plate discrete fin-and-tube heat exchangers with large fin pitch. In this study, twenty-two heat exchangers were tested with a variation of fin pitch, number of tube row, longitudinal tube pitch and fin alignment. Discrete fin type exchangers improved heat transfer performance more than 10% compared to tile continuous fin type heat exchangers. The air-side heat transfer coefficient decreased with a reduction of the fin pitch and an increase of the number of tube row, The staggered fin alignment improved heat transfer performance more than 6% compared to the inline fin alignment. The effect of longitudinal tube pitch was insignificant on the j-factor and experiments found opposite effects on the j-factor with respect to fin alignment. Heat transfer correlations were developed from the measured data for flat plate discrete fin-and-tube heat exchangers with large fin pitch. The correlations yielded good predictions of the measured data with mean deviations of 1,4% and 0.3% for tire inline and staggered tube alignment, respectively.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2010년도 춘계학술대회 논문집
• /
• pp.701-702
• /
• 2010

• 한국항공우주학회지
• /
• 제36권11호
• /
• pp.1079-1086
• /
• 2008

관성항법장치 초기정렬 방법인 전달정렬의 경우 MINS에서 SINS로 전송되는 데이터에는 변동하는 시간지연이 존재한다. 이러한 시간지연은 전달정렬의 성능을 저하시킨다. 본 논문에서는 측정치 잉여값을 이용하여 실시간으로 시간지연 공분산값을 추정하여 시간지연 추정오차를 줄이는 적응필터를 제시하고 수직발사 SDINS 전달정렬에 적용하여 확장형 칼만필터의 성능과 비교하였다. 시뮬레이션 결과 배운동이 크게 변할수록 적응필터의 성능이 확장형 칼만필터보다 더 우수한 것으로 나타났다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
• /
• pp.29-33
• /
• 1993

This paper suggests Kalman filter formulation using by precision GINS output angle for SDINS initial transfer alignment of missile. The Kalman filter model was derived from quaternion parameters and the transfer alignment system by angle matching method satisfies azimuth observability in horizontal angular motion. The estimated error of SDINS attitude settles to less 3mrad(1.sigma.) in 200 seconds at proper sea state.

• 한국군사과학기술학회지
• /
• 제10권1호
• /
• pp.14-21
• /
• 2007

This paper proposes SDINS(strapdown inertial navigation system) transfer alignment method for vertical launcher using an adaptive filter in the ship. First, the velocity and attitude matching transfer alignment method is designed to align SDINS for vertical launcher. Second, the adaptive filter is employed to estimate measurement noise variance in real time using the residual of measurements. Because it is difficult to decide measurement noise variance when noise properties of the ship SDINS are changed. To verify its performance, it is compared with the EKF(Extended Kalman filter) using uncorrect measurement variance. The monte carlo simulation results show that proposed method is more effective in estimating attitude angle than EKF.