• Journal of Institute of Control, Robotics and Systems
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• v.7 no.4
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• pp.363-363
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• 2001

We study on the velocity matching algorithm for transfer alignment of inertial navigation system(INS) using a robust H₂ filter. We suggest an uncertainty model and a discrete robust H₂filter for INS and apply the suggested robust H₂ filter to the uncertainty model. The discrete robust H₂filter is shown by simulation to have better performance time and accuracy than Kalman filter.

• Journal of Positioning, Navigation, and Timing
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• v.8 no.3
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• pp.107-117
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• 2019

When a vehicle moves with a high rotation rate, it is not easy to measure the angular velocity using an off-the-shelf gyroscope. If the angular velocity is estimated using the extended Kalman filter in the gyro-free inertial navigation system, the effect of the accelerometer error and initial angular velocity error can be reduced. In this paper, in order to improve the navigation performance of the gyro-free inertial navigation system, an angular velocity estimation method is proposed based on an extended Kalman filter with an accelerometer random bias error model. In order to show the validity of the proposed estimation method, angular velocities and navigation outputs of a vehicle with 3 rev/s rotation rate are estimated. The results are compared with estimates by other methods such as the integration and an extended Kalman filter without an accelerometer random bias error model. The proposed method gives better estimation results than other methods.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.6 no.4
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• pp.417-426
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• 1994

Filter media performance was evaluated using monodisperse NaCl particles with Differential Mobility Analyzer and Ultrafine Condensation Particle Counter. Low or medium performance filters show that the most penetrating particles size(MPPS) is around $0.3{\mu}m$ in diameter and is shifted to smaller sizes as the filter face velocity increases. However, HEPA and ULPA filters show MPPS is around $0.15{\mu}m$ in diameter and is also shifted to $0.1{\mu}m$ in diameter as the face velocity increases. In case of electret filter, the MPPS is found around $0.04{\mu}m$ region for Boltzmann charge equilibrium particles. There is a tendency of strong collection efficiency decrease for large particles as the face velocity increases on the contrary to the other filters. One of the medium performance filter efficiency was compared with filtration theory and the good agreetment was found in the experimental range.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.937-943
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• 2016

Vertical velocity is critical in many areas, such as the control of unmanned aerial vehicles, fall detection, and virtual reality. Conventionally, the integration of GPS (Global Positioning System) with an IMU (Inertial Measurement Unit) was popular for the estimation of vertical components. However, GPS cannot work well indoors and, more importantly, has low accuracy in the vertical direction. In order to overcome these issues, IMU-barometer integration has been suggested instead of IMU-GPS integration. This paper proposes a new complementary filter for the estimation of vertical velocity based on IMU-barometer integration. The proposed complementary filter is designed to minimize drift error in the estimated velocity by adding PID control in addition to a zero velocity update technique.

• Clean Technology
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• v.5 no.1
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• pp.30-41
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• 1999

The experimental set-up with a 1m long ceramic candle filter of Schumacher(Germany) was built in this work. The dust velocity field around the filter was measured using PDPA. The effects of dust cake layer and dust inlet position on the dust velocity field were also analyzed. It was found that the filtration velocity decreases as the dust cake builds up on the filter. The filtration velocity largely decreases around the filters near the dust inlet since the dust cake develops fast there. The average dust velocity on the filter due to the pressure difference through the filter was measured to be 0.28m/s. More uniform dust velocity field around the filter was obtained when feeding dust in a lower position of the pressure vessel.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.4
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• pp.362-368
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• 2001

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

• Journal of the Korean Geophysical Society
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• v.9 no.3
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• pp.231-240
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• 2006

The crustal structure of the Korean Peninsula was investigated by analyzing phase velocity dispersion data of Rayleigh waves. Earthquakes recorded by three component broad-band velocity seismographs during 1999-2004 in South Korea were used in this study. The fundamental mode Rayleigh waves were extracted from vertical components of seismograms by multiple filter technique and phase match filter method. Phase velocity dispersion curves of the fundamental mode signal pairs for 14 surface wave propagation paths on the great circle in the range 10 to 80 sec were computed by two-station method. Treating the shear velocity of each layer as an independent parameter, phase velocity data of Rayleigh wave were inverted. All the result models can be explained by a rather homogeneous crust of shear-wave velocity increasing from 2.8 to 3.25 km/sec from top to about 33 km depth without any distinctive crustal discontinuities and an uppermost mantle of shear-wave velocity between 4.55 and 4.67 km/sec. Our results turn out to agree well with recent study of Cho et al. (2006 b) based on the analysis of seismic background noises to recover short-period (0.5-20 sec) Rayleigh- and Love-wave group velocity dispersion characteristics.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.26-26
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• 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.

• Journal of Environmental Science International
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• v.15 no.1
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• pp.33-43
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• 2006

Revetment Mattress/Filter is the porous structure filled fillers in meshed structure so that it cail use the fillers of various sizes and form various pores. The porous structure of the Mattress/Filter increases drainage so that it decreases the energy and erosion of flow therefore the tractive force is decreased and the erosion of revetment is mitigated. The filler of Mattress/Filter uses gravels, waste concretes and slags so that the surface is rough and the roughness coefficient increases and the increase of the roughness coefficient decreases flow velocity and tractive force. On the other hand Mattress/Filter and vegetation are combined so that the increase of roughness coefficient and flow velocity still more progress therefore the effect of decrease of tractive force is increased after a few months have passed since the Mattress/Filter is constructed so that the vegetation is developed and be stabilized. The vegetation channel of Mattress/Filter is set tip and the inspection comes into operation by varing flowrate and vegetation spacing to examine these characters of the Mattress/Filter The coefficient of flow velocity U/U*' is decreased exponentially as vegetation esity aH' or $\lambda$ is increased and the coefficient of friction f is increased as vegetation desity aH' is increased but decreased as the coefficient of flow velocity U/U*' is increased. The effective tractive force $F_0$ is decreased exponentially as the vegetation desity aH' is increased. From the inspection the results are obtained that the porous and vegetation structure of the revetment Mattress/Filter system increases the coefficient of friction of revetment so that flow velocity and effective are decreased therefore greatly contributes the stability of the revetment.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.2
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• pp.177-184
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• 2016

This paper presents a strike velocity estimation using the recursive Bayesian filter that operates both correction and prediction models to probabilistically remove noises of sensors and accurately estimate the strike velocity during the real-time experiments. Four different types of bullets such as 5.56 mm M193, 7.62 mm M80, 5.45 mm 7N10 and 7.62 mm MSC were used to validate the proposed method. Compared to the existing method, the proposed method statistically results in higher stability of the strike velocity estimation as well as its reliability for the ballistic limit velocity computation.