• The Bulletin of The Korean Astronomical Society
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• v.44 no.2
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• pp.74.2-74.2
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• 2019

We present a possible bias in the estimation of velocity dispersions for galaxy groups due to the contribution of subgroups which are infalling into the groups. We execute a systematic search for flux-limited galaxy groups and subgroups based on the spectroscopic galaxies with r < 17.77 mag of SDSS data release 12, by using DBSCAN (Density-Based Spatial Clustering of Application with Noise) and Hierarchical Clustering Method which are well known unsupervised machine learning algorithm. A total of 2042 groups with at least 10 members are found and ~20% of groups have subgroups. We found that the estimation of velocity dispersions of groups using total galaxies including those in subgroups are underestimated by ~10% compared to the case of using only galaxies in main groups. This result suggests that the subgroups should be properly considered for mass measurement of galaxy groups based on the velocity dispersion.

• 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.

• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.6
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• pp.234-240
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• 2002

This paper treats the problem of estimating the longitudinal velocity of a braking vehicle using measurements from an accelerometer and wheel speed data from standard anti-lock braking wheel speed sensors. We develop and experimentally test three velocity estimation algorithms of increasing complexity. The algorithm that works the best gives peak errors of less than 3 percent even when the accelerometer signal is significantly biased.

• ETRI Journal
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• v.30 no.6
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• pp.774-782
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• 2008

An operational orbit determination (OD) and prediction system for the geostationary Communication, Ocean, and Meteorological Satellite (COMS) mission requires accurate satellite positioning knowledge to accomplish image navigation registration on the ground. Ranging and tracking data from a single ground station is used for COMS OD in normal operation. However, the orbital longitude of the COMS is so close to that of satellite tracking sites that geometric singularity affects observability. A method to solve the azimuth bias of a single station in singularity is to periodically apply an estimated azimuth bias using the ranging and tracking data of two stations. Velocity increments of a wheel off-loading maneuver which is performed twice a day are fixed by planned values without considering maneuver efficiency during OD. Using only single-station data with the correction of the azimuth bias, OD can achieve three-sigma position accuracy on the order of 1.5 km root-sum-square.

• Journal of Ocean Engineering and Technology
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• v.31 no.2
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• pp.177-182
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• 2017

This paper describes an unscented Kalman filter approach to estimate the bias in magnetic field measurements. A microelectromechanical systems attitude heading reference system (MEMS AHRS) was used to measure the magnetic field, together with the acceleration and angular rate. A magnetic field is usually used for yaw detection, while the acceleration serves to detect the roll and pitch. Magnetic field measurements are vulnerable to distortion due to hard-iron effect and soft-iron effect. The bias in the measurement accounts for the hard-iron effect, and this paper focuses on an approach to estimate this bias. The proposed method is compared with other methods through experiments that implement the navigation of an underwater robot using an AHRS and Doppler velocity log. The results verify that the compensation of the bias by the proposed method improves the navigation performance more than or comparable to the compensation by other methods.

• Journal of Ocean Engineering and Technology
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• v.17 no.6
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• pp.83-90
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• 2003

This paper presents an underwater hybrid navigation system for a semi-autonomous underwater vehicle (SAUV). The navigation system consists of an inertial measurement unit (IMU), and a Doppler velocity log (DVL), accompanied by a magnetic compass. The errors of inertial measurement units increase with time, due to the bias errors of gyros and accelerometers. A navigational system model is derived, to include the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 20. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors, and correct the state equation when the measurements are available. Simulation was performed with the 6-d.o,f equations of motion of SAUV, using a lawn-mowing survey mode. The hybrid underwater navigation system shows good tracking performance, by updating the error covariance and correcting the system's states with the measurement errors from a DVL, a magnetic compass, and a depth sensor. The error of the estimated position still slowly drifts in the horizontal plane, about 3.5m for 500 seconds, which could be eliminated with the help of additional USBL information.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.46 no.4
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• pp.449-457
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• 2010

This study shows that the vertical migration speed of sound scattering layers (SSLs), which is distributed in near Funka Bay, were measured by 3D velocity components acquired from a bottom moorng ADCP. While the bottom mooring type has a problem to measure the velocity vectors of sound scattering layer distributed near to surface, both the continuous vertical migration patterns and variability of backscatterers were routinely investigated as well. In addition, the velocity vectors were compared with the vertical migration velocity estimated from echograms of Mean Volume Backscattering Strength, and estimated to produce observational bias due to SSLs which is composed of backscatterers such as euphausiids, nekton, and fishes have swimming ability.

• Journal of Ocean Engineering and Technology
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• v.18 no.4 s.59
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• pp.33-39
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• 2004

This paper presents a hybrid underwater navigation system for unmanned underwater vehicles, using an additional range sonar, where the navigation system is based on inertial and Doppler velocity sensors. Conventional underwater navigation systems are generally based on an inertial measurement unit (IMU) and a Doppler velocity log (DVL), accompanying a magnetic compass and a depth sensor. Although the conventional navigation systems update the bias errors of inertial sensors and the scale effects of DVL, the estimated position slowly drifts as time passes. This paper proposes a measurement model that uses the range sonar to improve the performance of the IMU-DVL navigation system, for extended operation of underwater vehicles. The proposed navigation model includes the bias errors of IMU, the scale effects of VL, and the bias error of the range sonar. An extended Kalman filter was adopted to propagate the error covariance, to update the measurement errors, and to correct the state equation, when the external measurements are available. To illustrate the effectiveness of the hybrid navigation system, simulations were conducted with the 6-d.o.f. equations of motion of an AUV in lawn-mowing survey mode.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.524-527
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• 1997

Conventional target tracking algorithms based on the linear estimation techniques perform quite efficiently when the target motion does not involve maneuvers. Target maneuvers involving short term accelerations, however, cause a bias in the measurement sequence. Accurate compensation for the bias requires processing more samples of which adds to the computational complexity. The primary motivation for employing a neural network for this task comes from the efficiency with which more features can be as inputs for bias compensation. A system architecture that efficiently integrates the fusion capabilities of a trained multilayer neural net with the tracking performance of a Kalman filter is described. The parallel processing capability of a properly trained neural network can permit fast processing of features to yield correct acceleration estimates and hence can take the burden off the primary Kalman filter which still provides the target position and velocity estimates.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.32A no.3
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• pp.124-133
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• 1995

A theoretical self-consistent thermoelectric model has been developed for optimal thermal design in the self-signal processing infraed detectors. The model is achived by employing the coupled thermoelectric equation which allows which allows the simultaneous investigation of the termal and electrical aspects of device behavior. The thermal limitation of detectivity and responsivity are determined by the enegy gap, carrier concentration, lifetime, and mobility as a function of the temperature. The calculated results indicate that the detectivity is decreased at bias fields above about 50 V/cm, because the performence is limiting by temperature when the bias voltage reached the level associated with Joule heating. It has been also found that the improvement in the mid-band modulation transfer function(MTF) may be restricted by increasing the bias fields. Further, the important paramerers in the thermal optimization of SPIR detector, such as temperature in the device, ambipolar velocity, element thickness and length, are also considered. The analytical study provides a mathematical basis for optimal design of such a photoconductive IR detector and the agreement between the experimental and theoretical results are seen to be good.