• Journal of Positioning, Navigation, and Timing
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• v.7 no.2
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• pp.91-103
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• 2018

Conventional inertial measurement units cannot be used in the spinning vehicle with high rotation rate due to gyro's narrow operation range. By the way, angular acceleration can be measured using the accelerometer array distributed in the vehicle. This paper derives a mechanization for the gyro-free INS in the navigation frame, and proposes a gyro-free INS algorithm based on the derived mechanization. In addition, the proposed algorithm is used to estimate angular velocity, attitude, velocity, and position of a spinning vehicle with high rotation rate. A MATLAB-based software platform is configured in order to show validation of the proposed algorithm. The reference trajectory of a spinning vehicle at 3 round per second, 30 round per second are set up, and the outputs of accelerometer are generated when triads of accelerometer are located at the origin and all the axes. Navigation results of the proposed algorithm for the generated output are presented. The results show that the proposed navigation algorithm can be applied to the spinning vehicle with high rotation rate.

• Proceedings of the KIEE Conference
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• 1997.07a
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• pp.80-82
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• 1997

An analytical study of the Dynamic Characteristics of a Fiber Optic Gyro is presented. A mathematical model appropriate to the Fiber Optic Gyro system suffering from the system vibration of a driving motor is derived. It is shown that the analysis is directly applicable to the Gyrocompass system.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.1
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• pp.38-44
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• 2003

In this study, the balance beam control subsystem, new type of construction machinery using the mechanism of CMG (control moment gyro), for the attitude control of an unstructured object such as a beam carried by a tower crane, is designed and implemented. The balance beam controller consists of a wheel spinning at high speed and an outer gimbal for controlling the attitude of the wheel. Two motors, one for the wheel and the other for the gimbal, are used. Applying force to the spin axis of the wheel, as an input of the system, leads the torque about the axis because of the gyro effects. This torque is used to control the attitude of the unstructured object in this study. For the stabilizer function, in addition, holding the load at the current position, the attitude of the wheel is freed by cutting the power applied to the gimbal motor of the balance beam controller, which result in the braking force to stop the load by gyro effect. The works presented here include the mechanical system of the balance beam controller, the remote controller, the servo controller and the control software for the system. We also present experimental results to show that the system we proposed is useful as a new construction machinery which can control the attitude of the beam hanging from a tower crane.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.56.5-56
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• 2001

In the three axis control of satellite by using reaction wheel and gyro, a reaction wheel produces the control torque by the wheel speed or momentum, and a gyro carries out measuring of the attitude angle and the attitude angular velocity In this study, dynamic modelling of the Low Earth Orbit (LEO) is consisted of the one from the rotational motion of the satellite with the basic rigid body and a flexible body model, and the gyro in addition to the reaction wheel model. The results obtained by the robust controller are compared with those of the PI (Proportional and Integration) controller which is commonly used for the stabilizing satellite.

• Journal of the Semiconductor & Display Technology
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• v.12 no.2
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• pp.85-91
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• 2013

In this paper, the parabolic antenna aims to the precise location of a moving ship or car that can be designed system using the gyro sensor. The parabolic antenna has controlled by stepping motor that is a lot of noise and slow response of speed. It has solved the problem which is noise and slow response using the BLDC motor. Also, in order to suppress the noise two-axis control and a separate encoder to the six degrees of freedom motion system was implemented in a precise location. Generally, the gyro sensor is not required to system that doesn't move the six degrees of freedom motion system. But the system will be applied to the moving such as ships or cars. Finally, we presented the position control algorithm at the sometimes controlled both gyro sensor and BLDC motor. This system was tracking that the location of the antenna to the desired angle and errors almost didn't happen when the system was moved 6 degrees of freedom.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.210-212
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• 1996

Random drift rate (i.e., random drift in angle rate) of a gyro represents the major error source of inertial navigation systems that are required to operate over long time intervals. It is uncorrectable and leads to an increase in the error with the passage of time. In this paper a technique is presented for analyzing random process from experimental data and the results are presented. The problem of estimating the a priori statistics of a random process is considered using time averages of experimental data. Time averages are calculated and used in the optimal data-processing techniques to determine the statistics of the random process. Therefore the contribution each component to the gyro drift process can be quantitatively measured by its statistics. The above techniques will be applied to actual gyro drift rate data with satisfactory results.

• Journal of Navigation and Port Research
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• v.29 no.7
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• pp.611-614
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• 2005

This paper is to develop the position error equation of in the free-gyro positioning system by using two free gyros. First, the determination of a position is analyzed on the ellipsoid of the Earth and the type of the errors is defined Finally the position error equation is introduced and developed, based on the definition of the type of errors which may be involved in the FPS.

• Proceedings of the IEEK Conference
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• 2001.06e
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• pp.139-142
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• 2001

This paper presents a design of two gimbal system. One is two axes stabilized platform that is targeted to preserve direction while vehicle that is adhered antiaircraft fire, radar or EOTS is moving. The system maintains stabilization by recovering error using the rate gyro. The other is three axes gimbal system that is intended to simulate various angle movement in space and to test three axes gyroscope. This system determines gyro condition comparing gyro output value with converted motor encoder value.

• Journal of Navigation and Port Research
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• v.35 no.2
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• pp.121-130
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• 2011

The localization of vehicle is an important part of an unmanned vehicle control problem. Pseudolite ultrasonic system(PUS) is the method to find an absolute position with a high accuracy by using ultrasonic sensor. And Gyro is the inertial sensor to measure yaw angle of vehicle. PUS can be able to estimate the position of mobile robot precisely, in which errors are not accumulated. And Gyro is a more faster measure method than PUS. In this paper, we suggest a more accuracy method of calculating PUS which is numerical analysis approach named Newtonian method. And also propose the fusion method to increase the accuracy of estimated angle on moving vehicle by using PUS and Gyro integrated system by Kalman filtering. To control the 4WS unmanned vehicle, the trajectory following algorithm is suggested. And the new concept arbitration of goal controller is suggested. This method considers the desirability function of vehicle state. Finally, the performances of Newtonian method and designed controller were verified from the experimental results with the 4WS vehicle scaled 1/10.

• Journal of the Korea Society of Computer and Information
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• v.23 no.8
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• pp.17-23
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• 2018

In this paper, we implemented a flight posture simulator that intuitively understands aircraft flight posture and visualizes the principle of motion. The proposed system operates the 6 - axis motion platform according to the change of the navigation information and transmits the flight attitude to the simulator using the gyro sensor. A gyro sensor and an acceleration sensor are used together to analyze the attitude of the aircraft. The reason is that the gyro sensor has a cumulative error in the integration process. And the accelerometer sensor was compensated by using the complementary filter because noise was serious due to short term vibration. Using the compensated sensor information, the motion platform is operated by calculating the angle to be transmitted to the 6-axis motor. And visualization result is implemented using OpenGL. The results of this study can be used as teaching materials for students related to aviation in the future.