• 제목/요약/키워드: gyro sensor

검색결과 370건 처리시간 0.03초

통신해양기상위성 자이로센서 FDIR 설계 및 검증에 관한 연구 (A Study of FDIR S/W Design and Verification for Gyro Sensor of COMS Satellite)

  • 이훈희
    • 항공우주기술
    • /
    • 제7권2호
    • /
    • pp.95-102
    • /
    • 2008
  • 2009년에 발사될 통신해양기상위성은 다중화 구조설계를 통해 발생 가능성이 있는 고장으로부터 자동 회복을 수행할 수 있도록 자동조치기능이 탑재되어 있다. 본 연구에서는 자이로 센서의 고장이 COMS 임무에 미치는 영향을 살펴보고 장치 레벨의 자이로 센서 고장 처리를 위한 고장감지 방법과 기준, 고장고립과 회복 동작에 대한 메커니즘을 분석하였다 또한 시뮬레이터를 이용하여 고장 발생에 대한 자동조치 동작검증 결과를 확인하였다.

  • PDF

Scalar Adaptive Kalman Filtering for Stellar Inertia! Attitude Determination

  • Jung, Jae-Woo;Cho, Yun-Cheol;Bang, Hyo-Choong;Tahk, Min-Jea
    • International Journal of Aeronautical and Space Sciences
    • /
    • 제3권2호
    • /
    • pp.88-94
    • /
    • 2002
  • This paper describes attitude determination algorithm for the low earth orbit(LEO) spacecraft using stellar inertial sensors. The cascaded gyro/star tracker extended Kalman filter is constructed to fuse two sensor data. And then the smoothing of the measurement are proposed for an unreasonable jump of star tracker. The smoothing algorithm for the rejection of star tracker error jumps is designed by scalar adaptive filter. The proposed algorithms operate to process the measurement of gyro/star tracker Kalman filter, therefore, it is comparatively simple to apply these methods to other integration systems. Simulations to gyro/star tracker integrated system show that the proposed method is effective.

Attitude determination for three-axis stabilized satellite

  • Kim, Jinho;Lew, Changmo
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
    • /
    • pp.110-114
    • /
    • 1995
  • This paper presents the on-board attitude determination algorithm for LEO (Low Earth Orbit) three-axis stabilized spacecraft. Two advanced star trackers and a three-axis Inertial Reference Unit (IRU) are assumed to be attitude sensors. The gyro in the IRU provides a direct measurement of the attitude rates. However, the attitude estimation error increases with time due to the gyro drift and noise. An update filter with measurements of star trackers and/or sun sensor is designed to update these gyro drift bias and to compensate the attitude error. Kalman Filter is adapted for the on-board update filter algorithm. Simulation results will be presented to investigate the attitude pointing performance.

  • PDF

저가 관성센서 기반의 시선안정화 제어시스템 설계 (A Control System Design for the Line-of-Sight Stabilization based on Low-Cost Inertial Sensors)

  • 위정현;홍성경
    • 제어로봇시스템학회논문지
    • /
    • 제9권3호
    • /
    • pp.204-209
    • /
    • 2003
  • The line-of-sight stabilization system is an equipment which is loaded on a vehicle and stabilizes the direction of the line-of-sight of the vision sensor to obtain a not-swayed image in the existence of external disturbances. To obtain accurate Euler angles and angular velocities simultaneously we usually need a control system which uses high-price inertial sensors including Vertical Gyro(VG) or Rate Integrating Gyro(RIG). In this paper, we design and implement a control system of a gimbal, which is a line-of-sight stabilization system using a low-cost mixed algorithm of a rate gyro and an accelerometer instead of a VG and a RIG. In the experiment where we laid the implemented line-of-sight stabilization system on the rate table. we can see the stabilized performance to external disturbances.

모바일 OIS(Optical Image Stabilization) 자이로 센서의 영점 각도 추종을 위한 BACF/DCF 설계 및 평가 (The Design and Evaluation of BACF/DCF for Mobile OIS Gyro Sensor's Zero Point angle Following)

  • 이승권;공진흥
    • 대한전자공학회논문지SD
    • /
    • 제49권8호
    • /
    • pp.16-21
    • /
    • 2012
  • MEMS 기반의 자이로 센서는 회전 각도를 추출하는 과정에서 잡음성분에 의한 누적오차(drift) 및 영점(zero angle) 이탈현상이 발생한다. 본 연구에서는 이러한 누적오차를 제거하기 위한 DCF(Drift Compensatio Filter) 알고리즘과 각도 추출 시영점 이탈 방지를 위한 BACF(Boot Angle Compensation Filter) 알고리즘을 제안한다. DCF 알고리즘은 자이로 센서의 출력값에서 오프셋 및 잡음성분을 제거하여 순수 이동량을 얻을 수 있도록 설계한다. BACF 알고리즘은 자이로 센서로부터 출력되는 오프셋(Offset)에 포함된 잡음 성분을 재귀 평균법으로 계산하여 평균 오프셋을 구한다. 실험환경은 2축 자이로 센서 및 모바일 OIS 카메라가 탑재된 컨트롤 보드를 이용하여 5Hz의 ${\pm}0.5^{\circ}$의 진동에 대하여 BACF 및 DCF 알고리즘을 적용한 결과 누적 오차가 발생하지 않았으며, 영점 각도 추종이 정확히 이루어지는 결과를 확인하였다.

자동차 항법용 혼합항법 알고리즘 개발 (Development of the hybrid algorithm for the car navigation system)

  • 김상겸;양승규;김정하
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
    • /
    • pp.1403-1406
    • /
    • 1997
  • Generally, G.P.S(Global Positioning System) is using for the car navigation system but it has some restrictions such as the discontinuity of earth satellites and SA (Selective Availability). Recently, the hybrid navigation system combining with G.P.S and Dead-reckoning are much attractuve for improving the accuracy of a vehicle positioning. G.P.S called satellite navigation system, can measure its position by using satellites. Dead-Reckoning is the self-contained navigatioin system using a wheel sensor for the vehicle velocity and a gyro sensor for the vehicle angular velocity. Some algorithm could be generated for finding the vehicle position and orientation. In this paper, we developed a hybrid algotithm wiht G.P.S DR and Map-Matching.

  • PDF

AM3359 마이크로프로세서 기반 임베디드 시스템 설계 및 제작 (Design and Implementation of Embedded System based on AM3359 Microprocessor)

  • 김형우;김세준;최준영
    • 대한임베디드공학회논문지
    • /
    • 제12권2호
    • /
    • pp.89-96
    • /
    • 2017
  • We develop an embedded system to measure various sensor data, control multiple motors, and communicate with mobile devices for system managements. Choosing TI AM3359 microprocessor featuring high processing performance, low power consumption, and various I/O device support, we design and build the embedded system hardware so that it supports multiple global positioning system (GPS) and gyro sensor modules to measure precise position; multiple pulse width modulation (PWM) outputs to control multiple direct current (DC) motors; a Bluetooth module to communicate with mobile devices. Then, we port the boot loader and device drivers to the built circuit board and construct the firmware development environment for the application programming. The performance of the designed and implemented embedded system is demonstrated by real motor control test using GPS and gyro sensor data and control parameters configured by a mobile device.

Dither를 가지는 링레이저 자이로 항법시스템의 복합 주파수 원추운동 오차 해석 (Error Analysis of the Multi-Frequency Coning Motion with Dithered Ring Laser Gyro INS)

  • 김광진;이태규
    • 제어로봇시스템학회논문지
    • /
    • 제7권8호
    • /
    • pp.697-702
    • /
    • 2001
  • The ring laser gyro(RLG) has been used extensively in strapdown inertial navigation system(SDINS) because of the apparent of having wide dynamic range, digital output and high accuracy. The dithered RLG system has dynamic motion at sensor level, caused by the dithering motion to overcome the lock-in threshold. In this case, an attitude error is produced by not only the true coning of the vehicle motion but also the pseudo coning of the sensor motion. This paper describes the definition of the multi-frequency coning motion and its noncommutativity error to reject the pseudo coning error produced by the sensor motion such as the dithered RLG. The simulation results are presented to minimize the multi-frequency coning error.

  • PDF

밸런싱 메커니즘을 이용한 이륜형 자동차 형태의 이동로봇개발 : BalBOT VII (Development of Two Wheeled Car-like Mobile Robot Using Balancing Mechanism : BalBOT VII)

  • 이형직;정슬
    • 로봇학회논문지
    • /
    • 제4권4호
    • /
    • pp.289-297
    • /
    • 2009
  • This paper presents the development and control of a two wheeled car-like mobile robot using balancing mechanism whose heading control is done by turning the handle. The mobile inverted pendulum is a combined system of a mobile robot and an inverted pendulum system. A sensor fusion technique of low cost sensors such as a gyro sensor and a tilt sensor to measure the balancing angle of the inverted pendulum robot system accurately is implemented. Experimental studies of the trajectory following control task has been conducted by command of steering wheel while balancing.

  • PDF