• 한국군사과학기술학회지
• /
• 제22권2호
• /
• pp.189-196
• /
• 2019

The inertial sensor errors in SDINS(Strapdown Inertial Navigation System) can be compensated by rotating the inertial measurement unit and it is called RINS(Rotational Inertial Navigation System). It is assumed that the error of the inertial sensor in RINS is a static bias. However, the error of the inertial sensor actually developed and produced is not a static bias due to the change of the temperature applied to the sensor and the influence of the earth's gravity acceleration. In this paper, we propose a six-position gyro bias calibration method to evaluate the gyro bias required for RINS and present the test results of applying it to a ring laser gyro inertial navigation system under development.

• 제어로봇시스템학회논문지
• /
• 제7권10호
• /
• pp.874-881
• /
• 2001

By showing the existence of the ARE solution and the convergence property of the DRE solution, this paper proves that a Kalman filter for the linear system with the unobservable bias is stable. It is also shown that the Kalman filter has a biased steady state estimation error whose covariance is affected mainly by the unobservable bias. Finally, the results are illustrated through a 2nd order system example including the inertial navigation system.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
• /
• pp.401-406
• /
• 1992

When a velocity-aided strapdown inertial navigation system is loaded into a torpedo subjected to an extraneous force by the current, odometer measurement errors occur seriously. In order to compensate for navigation errors induced by large odometer biases, the Kalman Filter with separate bias estimator is applied, which separately estimates an unknown bias, and corrects the state estimate produced by the bias-free Kalman Filter to reflect the effect of the bias estimate.

• 제어로봇시스템학회논문지
• /
• 제13권12호
• /
• pp.1243-1251
• /
• 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.

• 전기전자학회논문지
• /
• 제23권1호
• /
• pp.120-126
• /
• 2019

최근 에너지 인터넷에서 지능형 원격검침 인프라를 이용하여 확보된 대량의 전력사용데이터를 기반으로 효과적인 전력수요 예측을 위해 다양한 기계학습기법에 관한 연구가 활발히 진행되고 있다. 본 연구에서는 전력량 데이터와 같은 시계열 데이터에 대해 효율적으로 패턴인식을 수행하는 인공지능 네트워크인 Gated Recurrent Unit(GRU)을 기반으로 딥 러닝 모델을 제안하고, 실제 가정의 전력사용량 데이터를 토대로 예측 성능을 분석한다. 제안한 학습 모델의 예측 성능과 기존의 Long Short Term Memory (LSTM) 인공지능 네트워크 기반의 전력량 예측 성능을 비교하며, 성능평가 지표로써 Mean Squared Error (MSE), Mean Absolute Error (MAE), Forecast Skill Score, Normalized Root Mean Squared Error (RMSE), Normalized Mean Bias Error (NMBE)를 이용한다. 실험 결과에서 GRU기반의 제안한 시계열 데이터 예측 모델의 전력량 수요 예측 성능이 개선되는 것을 확인한다.

• 응용통계연구
• /
• 제28권6호
• /
• pp.1227-1234
• /
• 2015

전통적으로 최적실험을 위한 실험기준들은 기본적으로 가정된 모형에 의존한다. 따라서 모형에 대한 완벽한 정보를 가지지 않는 경우 실험자는 곤란에 빠질 수 밖애 없다. Box와 Draper (1959) 이런 상황에 대비해 적분된 평균제곱오차의 편의부분에 해당하는 적분된 편의를 최소화하는 실험기준을 제안하고 필요충분조건을 명시하였다. 그러나 간단한 예제를 제외하고는 문헌에서는 이러한 필요충분조건을 만족하는 실험에 대한 구채적인 예제는 계산상의 문제로 예상외로 많이 연구가 되어 있지 않다. 비록 수치적인 해이긴 하지만 다항회귀모형을 중심으로 최소편의를 만족하는 실험의 성격을 파악하였는데 결론적으로 양극단에서 안쪽 방향으로 이탈되는 위치에서 받힘점이 형성되는 것을 알 수 있었다.

• 한국안전학회지
• /
• 제32권2호
• /
• pp.7-13
• /
• 2017

An experimental study was conducted to identify the quantitative measurement bias for the bare-bead thermocouple (TC), which was widely used for measuring temperature in fire experiments. To this end, an apparatus could be controlled individually gas flow rate, preheating temperature and incident radiative heat flux was developed to simulate the thermal environments of fire. A relative measurement bias of bare-bead TC was evaluated with the comparison of double-shield aspirated TC. As a result, the relative measurement bias of bare-bead TC was gradually increased with the increase in radiative heat flux with constant gas temperature. The relative bias was also significantly increased with the decrease in gas temperature. Quantitatively, at the gas temperature of $20^{\circ}C$, the bare-bead TC had the relative bias of approximately 400% with the radiative heat flux of $20kW/m^2$ corresponding to thermal radiation level of the flashover. The present study was intend to provide fire researchers with methodologies for the reanalyses of temperature measured using bare-bead TC, radiation corrections, and validation of fire modeling.

• 복식문화연구
• /
• 제12권1호
• /
• pp.28-40
• /
• 2004

The purpose of this study was (1) to identify the experimental bias which could appear person perception as results of development methods (2) to find out the most desirable method in developments of stimulus. The research was a quasi experiment and the subjects were 358 male and female undergraduate students by convenient sampling. The experimental instruments consisted of a set of stimulus and semantic differential scales of 7-point bi-polar adjectives. The collected data were analyzed by Principle Component Analysis, ANOVA(analysis of variance), Scheffe's multiple range test. The independent variables were developing methods of stimulus(live person, photography of real person, 2 kinds of black and white line drawing, 2 kinds of color drawing). The results were as follows. First, five factors which were potency, sociality, appearance, evaluation, activity impressional dimensions emerged to account for the methods of development of stimulus. Second, the methods of development of stimulus had significant effects on potency, sociality, appearance, activity factors. In sociality factors, the impression of photographic stimulus was the closest to the live person's impression. However in the appearance and activity impressions, significant difference existed between live person and other developing stimulus. In the potency impression, black and white line-drawing gave the highest impressional bias. In the sociability and appearance impressions, color-drawing stimulus gave the highest impressional bias. Result: On conclusion the developments of stimulus can effect on stimulus person's impressions and these effects can produce experimental biases, the photographic stimulus gave the least impressional bias. The study shows that photography of real person will produce minimize measurement error.

• 한국우주과학회:학술대회논문집(한국우주과학회보)
• /
• 한국우주과학회 2010년도 한국우주과학회보 제19권1호
• /
• pp.27.5-28
• /
• 2010

The unexpected observation condition or insufficient measurement modeling can lead to uncertain measurement errors. The uncertain measurement error of orbit determination problem typically consists of noise, bias and drift. It must be removed by using a proper estimation process for better orbit accuracy. The estimation of noise and drift is not easy because of their random or unpredictable variation. On the other hand, bias is a constant difference between the mean of the measured values and the true value, so it can be simply removed. In this study, precision orbit determination with SLR observations considering range bias estimation is presented. The Yonsei Laser-ranging Precision Orbit Determination System (YLPODS) and SLR NP (Normal Point) observations of CHAMP satellite are used for this work. The SLR residual test is performed to estimate the range bias of each arc. The result shows that we can get better orbit accuracy through range bias estimation.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2005년도 추계종합학술대회
• /
• pp.261-264
• /
• 2005

This paper presents the design of a down-conversion mixer with built-in active balun integrated in a $0.25\;{\mu}m$ pHEMT process. The active balun consists of series-connected common-gate FET and common-source FET. The designed balun achieved broadband characteristics by optimizing gate-width and bias condition for the reduction in parasitic effect. From DC to more than 6GHz, the active balun shows the phase error of less than 3 degree and the gain error of less than 0.4 dB. A single-balanced down-conversion mixer with built-in broadband active balun has been designed with optimum width, load resistor and bias for conversion gain and without any matching component for broadband operating. The designed mixer whose size of including on-chip bias circuit is $1\;mm{\times}1\;mm$ shows the conversion gain of better than 7 dB from 2 GHz to 6 GHz and $P_{1dB}$ of -10 dBm at 5.8 GHz