• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
• /
• 2003.05a
• /
• pp.149-156
• /
• 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), an ultra-short baseline (USBL) acoustic navigation sensor and a doppler velocity log (DVL) accompanying 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 error model of the USBL acoustic navigation sensor and the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 25 in the order. 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 in 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 senor. The error of the estimated position still slowly drifts in horizontal plane about 3.5m for 500 seconds, which could be eliminated with the help of additional USBL information.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.1
• /
• pp.54-61
• /
• 2012

In this paper, the pose estimation method for the satellite GTB (Ground Test Bed) using vision/MEMS IMU (Inertial Measurement Unit) integrated system is presented. The GTB for verifying a satellite system on the ground is similar to the mobile robot having thrusters and a reaction wheel as actuators and floating on the floor by compressed air. The EKF (Extended Kalman Filter) is also used for fusion of MEMS IMU and vision system that consists of a single camera and infrared LEDs that is ceiling landmarks. The fusion filter generally utilizes the position of feature points from the image as measurement. However, this method can cause position error due to the bias of MEMS IMU when the camera image is not obtained if the bias is not properly estimated through the filter. Therefore, it is proposed that the fusion method which uses the position of feature points and the velocity of the camera determined from optical flow of feature points. It is verified by experiments that the performance of the proposed method is robust to the bias of IMU compared to the method that uses only the position of feature points.

• Proceedings of the Korea Electromagnetic Engineering Society Conference
• /
• 2002.11a
• /
• pp.370-374
• /
• 2002

This paper describes the design and fabrication of distributed analog phase shifter circuit. The phase shifter consist of coplanar waveguide(CPW) lines that are periodically loaded with voltage tunable (Ba,Sr)TiO$_3$ thin film interdigital(IDT) capacitors deposited by the pulsed laser deposition(PLD) on (001) MgO single crystals. The phase velocity on these IDT loaded CPW lines is a function of applied bias voltage, thus resulting in analog phase shifting circuits. The measured differential phase shift is 48$^{\circ}$ and the insertion loss decreases from -5㏈ to -3㏈ with increasing bias voltage from 0 to 40 V at 100㎐.

• Proceedings of the KIEE Conference
• /
• 2001.07d
• /
• pp.2011-2013
• /
• 2001

In this paper the MMAE(Multiple Model Adaptive Estimation) algorithm using the MGEKF(Modified Gain Extended Kalman Filter) of which modes are set to be measurement biases is proposed to enhance the performance of target tracking with bearing only measurements. The state are composed of relative position, relative velocity and taregt acceleration. The mode probability is calculated from the bearing only measurements from the HMS(Hull-Mounted Sonar). The proposed algorithm is tested in a series of computer simulation runs.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.18 no.1
• /
• pp.166-174
• /
• 1994

A critical evaluation is made of the spectral bias which occurs in the use of a laser doppler velocimeter(LDV). Two processing algorithms are considered for spectral estimates: the sample and hold interpolation method(SH) and the nonuniform Shannon reconstruction technique(SR). Assessment is made of these for varying data densities $(0.05{\le}d.d.{\le}5)$ and turbulence levels(t.i.=30%, 100%). As an improved version of the spectral estimator, the utility of POCS (the projection onto convex sets) has been tested in the present study. This algorithm is found useful to be in the region when $d.d.{\gep}3.$

• Journal of The Korean Astronomical Society
• /
• v.55 no.5
• /
• pp.149-172
• /
• 2022

We present a new method which constructs an Hɪ super-profile of a galaxy which is based on profile decomposition analysis. The decomposed velocity profiles of an Hɪ data cube with an optimal number of Gaussian components are co-added after being aligned in velocity with respect to their centroid velocities. This is compared to the previous approach where no prior profile decomposition is made for the velocity profiles being stacked. The S/N improved super-profile is useful for deriving the galaxy's global Hɪ properties like velocity dispersion and mass from observations which do not provide sufficient surface brightness sensitivity for the galaxy. As a practical test, we apply our new method to 64 high-resolution Hɪ data cubes of nearby galaxies in the local Universe which are taken from THINGS and LITTLE THINGS. In addition, we also construct two additional Hɪ super-profiles of the sample galaxies using symmetric and all velocity profiles of the cubes whose centroid velocities are determined from Hermite h3 polynomial fitting, respectively. We find that the Hɪ super-profiles constructed using the new method have narrower cores and broader wings in shape than the other two super-profiles. This is mainly due to the effect of either asymmetric velocity profiles' central velocity bias or the removal of asymmetric velocity profiles in the previous methods on the resulting Hɪ super-profiles. We discuss how the shapes (𝜎_n/𝜎_b, A_n/A_b, and A_n/A_tot) of the new Hɪ super-profiles which are measured from a double Gaussian fit are correlated with star formation rates of the sample galaxies and are compared with those of the other two super-profiles.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.41 no.1
• /
• pp.1-8
• /
• 2004

The INS(Inertial Navigation System) provides high rate position, velocity and attitude data with good short-term stability while the GPS(Global Position System) provides position and velocity data with long-term stability. By integrating the INS with GPS, a navigation system can be achieved to Provide highly accurate navigation Performance. For the best performance, time synchronization of GPS and INS data is very important in GPS/INS integrated system But, it is impossible to synchronize them exactly due to the communication and computation time-delay. In this paper, to reduce the error caused by the measurement time-delay in GPS/INS integrated systems, error compensation methods using separate bias Kalman filter are suggested for both the loosely-coupled and the tightly-coupled GPS/INS integration systems. Linearized error models for the position and velocity matching GPS/INS integrated systems are Int derived by linearizing with respect to its time-delay and augmenting the delay-state into the conventional state equations for each case. And then separate bias Kalman Inter is introduced to estimate the time-delay during only initial navigation stage. The simulation results show that the present method is effective enough resulting in considerably less position error.

• Journal of Aerospace System Engineering
• /
• v.17 no.4
• /
• pp.28-33
• /
• 2023

In this study, computational fluid dynamics was used to analyze the flow bias generated as air supplied by a fan passes through ducts, piping, and a coal separation screen. The flow bias of the air flow is mostly caused by the spatial characteristics of the fan volute and duct, and the internal baffle and the coal separation screen at the outlet cause strong pressure losses that dampen the flow bias. ANSYS CFX was used for computational fluid dynamics, and since the baffle and the coal separation screen are shaped like perforated plates with many small holes uniformly distributed, actual modeling for analysis was not possible. Therefore, the Porous Loss Model was applied. The evaluation of the flow bias was analyzed based on the velocity distribution of the Porous Loss Model at the outlet surface of the coal separation screen obtained from the computational fluid dynamics results.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.7
• /
• pp.640-645
• /
• 2013

This paper presents a step length estimation algorithm for Pedestrian Dead Reckoning using linear calibrated ZUPT (zero velocity update) with a foot mounted IMU. The IMU consists of 3 axis accelerometer, gyro and magnetometer. Attitude of IMU is estimated using an inertial navigation algorithm. To increase accuracy of step length estimation algorithm, we propose a stance detection algorithm and an enhanced ZUPT. The enhanced ZUPT calculates firefighter's step length considering velocity error caused by sensor bias during one step. This algorithm also works efficiently at various motions, such as crawling, sideways and stair stepping. Through experiments, the step length estimation performance of the proposed algorithm is verified.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.33.1-33
• /
• 2002

The INS provides high rate position, velocity and attitude data with good short-term stability while the GPS provides position and velocity data with long-term stability. By integrating the INS with GPS, a navigation system can be achieved to provide highly accurate navigation performance. For the best performance, time synchronization of GPS and INS data is very important in GPS/INS integrated system. But, it is impossible to synchronize them exactly due to the communication and computation time-delay. In this paper, to reduce the error caused by the measurement time-delay in GPS/INS integrated systems, error compensation methods using separate bias Kalman filter are suggested for both the...