• 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.

• JSTS:Journal of Semiconductor Technology and Science
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• v.5 no.1
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• pp.58-66
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• 2005

Inertial-grade vertical-type and lateral-type differential resonant accelerometers (DRXLs) are designed, fabricated using one process and tested for navigational applications. The accelerometers consist of an out-of-plane (for z-axis) accelerometer and in-plane (for x, y-axes) accelerometers. The sensing principle of the accelerometer is based on gap-sensitive electrostatic stiffness changing effect. It says that the natural frequency of the accelerometer can be changed according to an electrostatic force on the proof mass of the accelerometer. The out-of-plane resonant accelerometer shows bias stability of $2.5{\mu}g$, sensitivity of 70 Hz/g and bandwidth of 100 Hz at resonant frequency of 12 kHz. The in-plane resonant accelerometer shows bias stability of $5.2{\mu}g$, sensitivity of 128 Hz/g and bandwidth of 110 Hz at resonant frequency of 23.4 kHz. The measured performances of two accelerometers are suitable for an application of inertial navigation.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.29 no.3
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• pp.277-283
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• 2016

A high-precision force-feedback 3-axes accelerometer developed in Korea has been investigated and studied for the verification of feasibility in the computational analysis and health monitoring of civil infrastructures. Through a series of experiment, the nonlinearity, bandwidth, low-frequency signal measurement accuracy and bias characteristics of the accelerometer has been thoroughly compared to those of two accelerometers produced by two market leaders in domestic and global accelerometer market. The experiment results shows that the overall measurement performance of the accelerometer has superiority over the performance of the two accelerometers from global market leader companies. Especially, the accelerometer shows a better low-frequency signal measurement accuracy and constant bias characteristic, which are mostly required in the computational analysis and the long-term health monitoring of large-scale civil infrastructures.

• International Journal of Control, Automation, and Systems
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• v.4 no.5
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• pp.615-623
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• 2006

The gyroscope free strap-down INS is composed only of accelerometers. Any gyroscope free INS navigation error is deeply affected by the accuracy of the sensor bias, scale factor, orientation and location error. However these parameters can be found by calibration. There is an important research issue about a multi-position calibration method in this paper. It provides a novel method to find the error parameters for the six-accelerometer INS. A superior simulation is shown that the multi-position calibration can find the specifications of a six-accelerometer INS in laboratory. From these parameters the six-accelerometer INS could apply in realistic navigation.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.56-60
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• 1996

This paper presents the initial results of development of a inertial navigation grade silicon pendulous accelerometer. This effort focused on developing a bulk-micromachined silicon pendulum and designing a PI-servo controller. Performance data presented in this paper includes threshold, bias short term stability and nonlinearity of scale factor. This accelerometer developed is demonstrated the feasibility of meeting one-nautical-mile-per-hour accuracy.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.12
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• pp.1243-1251
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• 2007

In this paper a study on the simplified observability analysis of GPS/INS is introduced. Errors for the position, velocity, attitude, gyro and accelerometer biases, and lever arm between GPS antenna and inertial sensors are considered in the observablity analysis. From the error dynamics model in which relatively small terms are neglected, simple observability conditions are obtained such that the observability of GPS/INS is determined by the test on the attutude, gyro bias, and lever arm. Unobservable errors for the position, velocity, and accelerometer bias are determined by those for the attitude, gyro bias, and lever arm. The simplified observability conditions are applied to a constant speed horizontal motion. It is shown that there are seven unobservable modes for the motion including the vertical component of gyro bias. The analytic observability analysis results are confirmed with a covariance simulation.

• Nutrition Research and Practice
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• v.16 no.5
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• pp.565-576
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• 2022

BACKGROUND/OBJECTIVES: Various accelerometer equations are used to predict energy expenditure (EE). On the other hand, the development of these equations and their validation studies have been conducted primarily without including older adults. This study assessed the accuracy of 8 ActiGraph accelerometer equations to predict the energy cost of walking in older adults. SUBJECTS/METHODS: Thirty-one participants with a mean age of 74.3 ± 3.3 yrs were enrolled in this study (20 men and 11 women). The participants completed 8 walking activities, including 5 treadmill and 3 self-paced walking activities. The EE was measured using a portable indirect calorimeter, with each participant simultaneously wearing the ActiGraph accelerometer. Eight ActiGraph equations were assessed for accuracy by comparing the predicted EE with indirect calorimetry results. RESULTS: All equations resulted in an overall underestimation of the EE across the activities (bias -1 to -1.8 kcal·min^-1 and -0.7 to -1.8 metabolic equivalents [METs]), as well as during treadmill-based (bias -1.5 to -2.9 kcal·min^-1 and -0.9 to -2.1 METs) and self-paced (bias -1.2 to -1.7 kcal·min-1 and -0.2 to -1.3 METs) walking. In addition, there were higher rates of activity intensity misclassifications, particularly among vigorous physical activities. CONCLUSIONS: The ActiGraph equations underestimated the EE for walking activities in older adults. In addition, these equations inaccurately classified the activities based on their intensities. The present study suggests a need to develop ActiGraph equations specific to older adults.

• International Journal of Control, Automation, and Systems
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• v.5 no.1
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• pp.35-42
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• 2007

This paper presents an INS(Inertial Navigation System) grade, surface micro-machined differential resonant accelerometer(DRXL) manufactured by an epitaxially grown thick poly silicon process. The proposed DRXL system generates a differential digital output upon an applied acceleration, in which frequency transition is measured due to gap dependent electrical stiffness change. To facilitate the resonance dynamics of the electromechanical system, the micromachined DRXL device is packaged by using the wafer level vacuum sealing process. To test the DRXL performance, a nonlinear self-oscillation loop is designed based on the extended describing function technique. The oscillation loop is implemented using discrete electronic elements including precision charge amplifier and hard feedback nonlinearity. The performance test of the DRXL system shows that the sensitivity of the accelerometer is 24 Hz/g and its long term bias stability is about 2 mg($1{\sigma}$) with dynamic range of ${\sigma}70g$.

• International Journal of Automotive Technology
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• v.6 no.5
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• pp.475-481
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• 2005

This paper deals with the algorithm of estimating the longitudinal speed of a braking vehicle using measurements from an accelerometer and a standard wheel speed sensor. We evolve speed estimation algorithms of increasing complexity and accuracy on the basis of experimental tests. A final speed estimation algorithm based on a Kalman filtering is developed to reduce measurement noise of the wheel speed sensor, error of the tire radius, and accelerometer bias. This developed algorithm can give peak errors of less than 3 percent even when the accelerometer signal is significantly biased.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.11
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• pp.1039-1044
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• 2000

In this paper, the error caused by the measurement delay in INS/GPS integrated systems with Kalman filtering is defined and analyzed through the analytical method and the simulation. It is proved that the error of measurement delay causes not only the position error but also the estimate error of the x-axis accelerometer bias when a vehicle turns. And the estimation method of the delay time and the compensation method using an extrapolation method are presented. The performance of the compensation method is shown by the analytic method and the simulation.