• Journal of Institute of Control, Robotics and Systems
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• v.4 no.5
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• pp.674-679
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• 1998

In this paper, a new coarse alignment algorithm is proposed for roughly determining the initial attitude of the vehicle. The algorithm, referred as two-step coarse alignment algorithm, computes roll and pitch angle of the vehicle using accelerometer outputs, and then determines yaw angle with gyro outputs. With the geometric relation between sensor outputs and attitude angles, the algorithm error is analytically derived and compared with the previous coarse alignment algorithm that computes a transformation matrix using accelerometer md gyro outputs simultaneously. The simulation is also performed by varying the sensor errors. The results show that the proposed two-step coarse alignment algorithm has better performance for east tilt angle.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.856-859
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• 1996

In this paper, a coarse alignment algorithm for strapdown inertial navigation system is proposed and evaluated analytically. The algorithm computes roll and pitch angles of the vehicle using accelerometer outputs, and then determines yaw angle with gyro outputs. It is referred, as two-step coarse alignment in this work. With the geometric relation between sensor outputs and roll, pitch and yaw angles, the algorithm error is analytically derived and compared with the previous coarse alignment algorithm introduced by Britting. The results show that the proposed two-step coarse alignment algorithm has better performance for pitch angle computation.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.3
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• pp.565-573
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• 2017

This paper presents a multistage in-flight alignment (MIFA) method for a strapdown inertial navigation system (SDINS) suitable for moving vehicles with no initial attitude references. A SDINS mounted on a moving vehicle frequently loses attitude information for many reasons, and it makes solving navigation equations impossible because the true motion is coupled with an undefined vehicle attitude. To determine the attitude in such a situation, MIFA consists of three stages: a coarse horizontal attitude, coarse heading, and fine attitude with adaptive Kalman navigation filter (AKNF) in order. In the coarse horizontal alignment, the pitch and roll are coarsely estimated from the second order damping loop with an input of acceleration differences between the SDINS and GPS. To enhance estimation accuracy, the acceleration is smoothed by a scalar filter to reflect the true dynamics of a vehicle, and the effects of the scalar filter gains are analyzed. Then the coarse heading is determined from the GPS tracking angle and yaw increment of the SDINS. The attitude from these two stages is fed back to the initial values of the AKNF. To reduce the estimated bias errors of inertial sensors, special emphasis is given to the timing synchronization effects for the measurement of AKNF. With various real flight tests using an UH60 helicopter, it is proved that MIFA provides a dramatic position error improvement compared to the conventional gyro compass alignment.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.138-145
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• 2000

In this paper an initial alignment algorithm for a strapdown inertial navigation system is implemented using a RISC CPU board. The algorithm computes roll pitch and yaw angles of the direction cosine matrix utilizing measured components of the specific force and earth rate when the navigation system is stationary. The coarse alignment algorithm is performed first and then the fine alignment algorithm containing a 3rd-order gyrocompass loop follows. The experimental set consists of an IMU a CPU board and a monitoring system Experimental results show that the implemented algorithm can be utilized in navigation systems.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.355-359
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• 2006

For the poor observability of azimuth misalignment angle and east gyro drift rate of the traditional initial alignment, a bran-new SINS stationary fast self-alignment approach is proposed. By means of analyzing the characteristic of the strapdown inertial navigation system (SINS) stationary alignment seriously, the new approach takes full advantage of the specific force and angular velocity information given by inertial measurement unit (IMU) instead of the mechanization of SINS. Firstly, coarse alignment algorithm is presented. Secondly, a new fine alignment model for SINS stationary self-alignment is derived, and the observability of the model is analysed. Then, a modified Sage-Husa adaptive Kalman filter is introduced to estimate the misalignment angles. Finally, some computer simulation results illustrate the efficiency of the new approach and its advantages, such as higher alignment accuracy, shorter alignment time, more self-contained and less calculation.

• Computers and Concrete
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• v.30 no.5
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• pp.323-337
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• 2022

This paper proposes a numerical model to simulate the rotational behavior of steel fiber in fresh cement-based materials in the presence of a magnetic field. The results indicate that as the aspect ratio of fiber increases, the required minimum magnetic field intensity to make fiber rotate in viscous fluid increases. The optimal magnetic field intensity is 0.03 T for aligning steel fiber in fresh cement-based materials to ensure that the applying time of the magnetic field can be conducted concurrently with the vibrating process to increase the aligning efficiency. The orientation factor of steel fiber in cement mortar can exceed 0.85 after aligning by 0.03 T of the uniform magnetic field. When the initial angle of the fiber to the magnetic field direction is less than 10°, the magnetic field less than 0.03 T cannot make the fiber overcome the yield stress of fluid to rotate. The coarse aggregate in steel fiber-reinforced concrete is detrimental to the rotation and alignment of the steel fiber. But the orientation factor of ASFRC under the 0.03T of the magnetic field can also exceed 0.8, while the orientation factor of SFRC without magnetic field application is around 0.6.

• JSTS:Journal of Semiconductor Technology and Science
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• v.6 no.4
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• pp.264-269
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• 2006

A $0.12GHz{\sim}1.4GHz$ DLL-based clock generator with the capability of multiplied four phase clock generation was designed using a 0.18um CMOS process. An adaptive bandwidth DLL with a regulated supply delay line was used for a multiphase clock generation and a low jitter. An extra phase detector (PD) in a reference DLL solves the problem of the initial VCDL delay and achieves a fast lock time. Twice multiplied four phase clocks were generated at the outputs of four edge combiners, where the timing alignment was achieved using a coarse lock signal and the 10 multiphase clocks with T/8 time difference. Those four clocks were combined one more time using a static XOR circuit. Therefore the four times multiplication was achieved. With a 1.8V supply, the rms jitter of 2.1ps and the peak-to-peak jitter of 14.4ps were measured at 1.25GHz output. The operating range is $0.12GHz{\sim}1.4GHz$. It consumes 57mW and occupies 450*325um2 of die area.