• IEIE Transactions on Smart Processing and Computing
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• 제6권1호
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• pp.1-9
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• 2017

This paper proposes to improve the performance of a strap down inertial navigation system using a foot-mounted low-cost inertial measurement unit/magnetometer by configuring an attitude and heading reference system. To track position accurately and for attitude estimations, considering different dynamic constraints, magnetic measurement and a zero velocity update technique is used. A conventional strap down method based on integrating angular rate to determine attitude will inevitably induce long-term drift, while magnetometers are subject to short-term orientation errors. To eliminate this accumulative error, and thus, use the navigation system for a long-duration mission, a hybrid configuration by integrating a miniature micro electromechanical system (MEMS)-based attitude and heading detector with the conventional navigation system is proposed in this paper. The attitude and heading detector is composed of three-axis MEMS accelerometers and three-axis MEMS magnetometers. With an absolute algorithm based on gravity and Earth's magnetic field, rather than an integral algorithm, the attitude detector can obtain an absolute attitude and heading estimation without drift errors, so it can be used to adjust the attitude and orientation of the strap down system. Finally, we verify (by both formula analysis and from test results) that the accumulative errors are effectively eliminated via this hybrid scheme.

• Current Research on Agriculture and Life Sciences
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• 제32권2호
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• pp.79-84
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• 2014

본 논문에서는 저가, 저전력 및 소형의 IMU를 구성하기 위한 MEMS 관성 센서를 이용하여 자세 정보를 제공받는 ARHES에 위의 센서를 사용하기 위해 자이로 센서 및 가속도센서의 데이터 출력 특성을 검증하여 오차 및 정확도를 분석하였다. 센서 실험을 위하여 진자 실험 장치를 제작하였고, 진자 운동에 대한 센서 데이터를 수집하였다. 이론적인 수식을 유추하여 센서 데이터의 정확성 분석을 위한 기준 값으로 설정하였다. 센서값과 이론값을 비교하면 각속도에서 4.32~5.72%, 가속도에서 x-, z-축 방향에 대하여 각각 3.53~6.74% 및 3.91~4.16%의 오차율을 나타냈다. 진자실험 장치를 이용한 센서 검증에서 무인헬리콥터에 사용될 센서로서 적합한 것으로 평가되었으며 이는 짐벌장치 등을 이용한 자세추정 알고리즘을 구성하는데 기초가 되었다. 또한, 더욱 정밀한 실험을 위해서는 온도 등 주변 환경 요인에 대한 보정이 요구된다.

• 한국전자통신학회논문지
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• 제14권1호
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• pp.265-274
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• 2019

본 논문은 저가형 AHRS(: Attitude Heading Reference System)센서를 이용하여 무인 운송체(Unmanned vehicle)의 자세를 무향 칼만 필터 (Unscented Kalman filter)통해 추정하는 방법을 제안한다. 측정된 가속도와 지구자기장 값을 이용하여 UKF의 보정 단계에서 사용될 자세를 계산한다. 롤 (roll)과 피치 (pitch)는 가속도로부터 구해지며 요 (yaw)는 지구 자기장을 이용하여 연산한다. 이때 사용되는 지구자기장 측정값은 강철 효과(hard-iron effect)와 연철 효과(soft-iron effect)에 의해 쉽게 왜곡되기 때문에 계산된 요의 불확실성이 롤이나 피치의 불확실성에 비하여 크다. 본 논문은 이러한 불확실성을 줄이기 위하여 측정된 지구자기장에 포함된 편차성분을 추정하고 보정하여 더 정밀한 요값을 구한다. 제안된 방법을 수조에서의 무인 운송체 항법 실험을 통하여 검증하였다. 실험결과, 자세 추정 성능이 개선되고 이에 따라 위치 추정 성능도 개선됨을 확인하였다.

• 한국의류학회지
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• 제28권2호
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• pp.224-234
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• 2004

This paper is an exploratory research to identify the structural model suitable for the fashion brand attitude effect process of VMD structural elements. Under the circumstances of severe competitiveness in price-conscious casual brand, we intended to find measurement model of VMD effect to establish plausible brand specific VMD strategy. Since VMD is regarded as one of marketing stimuli like advertising, we introduced Mackenzie, Lutz, and Belch(1986)＇s advertising effect measurement model for the analysis. For the study, VMD structural elements were composed of controllable visual factors from store environment at the aspect of marketing strategy. As a result, the reciprocal mediation hypothesis model shows the best fit for the VMD stimuli. That is, under the cognition of interaction between VMD attitude and brand attitude, strategy must be considered to strengthen the attitude relation between VMD and brand. The second fit model was the dual mediation model which was adopted from Petty and Cacioppo＇s ELM. According to this, when you make use of VMD strategy, it is needed to consider both of affective and cognitive factors of VMD.

• Journal of Magnetics
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• 제22권2호
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• pp.315-325
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• 2017

Magnetically suspended sensitive gyroscopes (MSSGs) provide an interesting alternative for achieving precious attitude angular measurement. To effectively reduce the measurement error caused by the non-uniformity of the air-gap flux density in a MSSG, this paper proposes a novel compensation method based on measuring and modeling of the air-gap flux density. The angular velocity measurement principle and the structure of the MSSG are described, and then the characteristic of the air-gap flux density has been analyzed in detail. Next, to compensate the flux density distribution error and improve the measurement accuracy of the MSSG, a real-time compensation method based on the online measurement with hall probes is designed. The common issues caused by the non-uniformity of the air-gap flux density can be effectively resolved by the proposed method in high-precision magnetically suspended configurations. Comparative simulation results before and after compensation have verified the effectiveness and superiority of the proposed compensation method.

• 한국학교보건학회지
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• 제34권1호
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• pp.33-41
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• 2021

Purpose: Exploring the variables that predict teachers' intent when referring students to mental health professionals is important. The Theory of Planned Behavio (TPB) is a theory of predicting people's intentions of performing a particular behavior; the intent to perform a certain behavior is determined by three factors. (1) attitudes toward the behavior, (2) subjective norms, and (3) perceived control. This study aimed to develop a TPB measurement to investigate what variables predict the intentions of teacher's referral behaviors. Methods: A qualitative study following standardized manuals and guidelines for developing a TPB measurement was used. As a qualitative research method, the Consensual Qualitative Research-Modified (CQR-M) was used. According to the findings from the qualitative study, the quantitative measurement to assess teachers' referral intention, attitude, subjective norm, and behavioral control was developed. Results: The reliability and validity of the newly developed measurement were tested and verified. Conclusion: The newly developed measurement would contribute to a future empirical study that will examine predictors of teachers' referral intention.

• 한국과학교육학회지
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• 제16권2호
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• pp.190-199
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• 1996

The purpose of this study was twofold: (1) to design a system for constructing Likert attitude scales as supported by the sociopsychological and measurement literature, and (2) (using the design) to develop an affective component of "Attitudes toward Science" scale for high school students. The rationale for developing a new attitude scale is presented in the context of a review of existing attitude scales. As discussed in the literature review, many existing attitude scales are based on ill-defined theoretical constructs, and includes statements that do not appear to be assessing a single construct of attitude toward science. In addition, existing attitude scales do not distinguish between affective and behavioral and cognitive components of attitude toward science. Thus, this study was to carefully define the construct, subcomponents of attitude toward science, and develop an affective component of "Attitude toward Science" scale to reflect the construct and to distinguish between affective and behavioral and cognitive components of attitude toward science. The results of this study: (1) three-mains step for designing reliable and valid attitude scale were developed, and (2) 35 items(16 positive and 19 negative) for an affective component of "Attitudes toward Science" scale with the following characteristics were developed: (a) The internal consistency was estimated using Cronbach's coefficient ${\alpha}$, 0.9727. (b) The range of adjusted item-total correletion(${\gamma}$-value) were 0.58${\sim}$0.83. (c) The correlation coefficient ranged between 0.61 and 0.74 revealing a moderate relatedness between subcomponents. (d) The correlation coefficient for concurrent validity were 0.55 with TOSRA and 0.51 with SAl.

• 전기학회논문지
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• 제67권7호
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• pp.871-877
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• 2018

In this paper, we propose a triple nested PID control scheme for stable hovering of a quadrotor and propose a complementary filter based sensor fusion technique to improve the performance of attitude, altitude and velocity measurement. The triple nested controller has a structure in which a double nested attitude controller that has the angular velocity PD controller in inner loop and the angular PI controller in outer loop, is nested in a velocity control loop to enable stable hovering even in the case of disturbance. We also propose a sensor fusion technique by applying a complementary filter in order to reduce the noise and drift error included in the acceleration and gyro sensor and to measure the velocity by fusing image, gyro, and acceleration sensor. In order to verity the performance, we applied the proposed control and measurement scheme to hovering control of quadrotor.

• 제어로봇시스템학회논문지
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• 제12권3호
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• pp.300-306
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• 2006

In this paper an error analysis of 3-dimensional GNSS attitude determination system is given. The attitude error covariance matrix is derived and analyzed. It implies that attitude errors are affected by the baseline length and configuration, the satellites numbers and geometry, receiver measurement noises and the nominal attitude of the vehicle. By defining Euler Angle Dilution Of Precision (EADOP) which is analogous to GDOP, roll, pitch and yaw errors can be efficiently analyzed. However the expression of the attitude error is too complex to get some intuitions. Therefore with a commonly adopted assumption, new expressions for attitude error are derived. The formulas are easy to compute and represent the attitude error as a function of the nominal attitude of a vehicle, the baseline configuration and the receiver noise. Using the formula, the accuracy of the attitude can be analytically predicted without the computer simulations. Applications to some widely used configurations reveal the effectiveness of the proposed method.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.616-619
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• 2003

In this paper, we develop an input device equipped with accelerometers and gyroscopes. The installed sensors measure the inertial measurements i.e., accelerations and angular rates produced by the movement of the system when a user is writing on the plane surface or in the three dimensional space. The gyroscope measurement are integrated once to give the attitude of the system and consequently used to remove the gravity included in the acceleration measurements. The compensated accelerations bin doubly integrated to yield the position of the system. Due to the integration processes involved in recovering the users'motions, the accuracy of the position estimation significantly deteriorates with time. Among various error sources of the system incorrect estimation of attitude causes the largest portion of the positioning error since the gravity is not fully cancelled. In order to solve this problem, we propose a Kalman filler-based attitude estimation algorithm which fuses measurement data from accelerometers and gyroscopes by fuzzy logic approach. In addition, the online calibration of the gyroscope biases are performed in parallel with the attitude estimation to give more accurate attitude estimation. The effectiveness and the feasibility of the presented system is demonstrated through computer simulations and actual experiments.