• Journal of the Optical Society of Korea
• /
• v.15 no.3
• /
• pp.237-243
• /
• 2011

Thermal characteristics, such as diffusivity and temperature induced change in the fiber mode index of rotation sensing fiber coil are critical factors which determine the time varying, thermo-optically induced bias drift of interferometric fiber-optic gyroscopes (IFOGs). In this study, temperature dependence of the transient effect is analyzed in terms of the thermal characteristics of the fiber coil at three different temperatures. By applying an analytic model to the measured bias in the experiments, comprehensive thermal factors of the fiber coil could be extracted effectively. The validity of the model was confirmed by the fact that the extracted values are reasonable results in comparison with well known properties of the materials of the fiber coil. Temperature induced changes in the critical factors were confirmed to be essential in compensating the transient effect over a wide temperature range.

• Journal of the Optical Society of Korea
• /
• v.16 no.1
• /
• pp.80-84
• /
• 2012

A high reflectance mirror, which has very low absorption and scattering loss, was coated onto a crystalline substrate by ion beam sputtering and then annealed at $450^{\circ}C$. We carefully selected the mirror coating material, and designed the high reflectance mirror, in order to avoid UV degradation which comes from the He-Ne plasma. We measured the surface roughness of the Zerodur substrate using phase shift interferometry and atomic force microscopy, and compared it with the TIS scattering of the mirror. The cavity ring-down method was used to measure the absorption of the mirror, and the thin film structure was correlated to its results. We also compared the optical properties of coated mirrors before and after annealing.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.664-667
• /
• 1996

This paper presents the error parameter estimation technique for IMU(Inertial Measurement Unit) which is core sensor of INS(Inertial Navigation System) and verifies it via laboratory test. Firstly the error characteristic of gyroscope and accelerometer which is contained in IMU is examined and the error modelling is executed. The error of IMU can be divided into deterministic and random part, and the deterministic error can be divided into static and dynamic part. This paper consider the random part as constant. Secondly the error parameter estimation technique and following procedure for laboratory test is explained. Thirdly according to the test procedure the IMU test for static error is executed using 2-axis rate table and estimation result is presented with discussion about its validity.

• Proceedings of the KIEE Conference
• /
• 2001.11c
• /
• pp.288-291
• /
• 2001

This paper present effective odometry error compensation using multisensor fusion for the accurate positioning of mobile robot in navigation. During obstacle avoidance and wall following of mobile robot, position estimates obtained by odometry become unrealistic and useless because of its accumulated errors. To measure the position and heading direction of mobile robot accurately, odometry sensor a gyroscope and an azimuth sensor are mounted on mobile robot and Complementary-filter is designed and implemented in order to compensate complementary drawback of each sensor and fuse their information. The experimental results show that the multisensor fusion system is more accurate than odometry only in estimation of the position and direction of mobile robot.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.141.5-141
• /
• 2001

An attitude GPS receiver with 3 antennas obtains 3-dimensional attitude using GPS carrier phase measurement INS obtains the 3 dimensional navigation solution for IMU consisting of accelerometers and gyro. Ground-alignment process for the low -cost INS cannot be performed well due to the large sensor noise. Using the standard GPS receiver, however, continuous in-flight alignment for the INS becomes possible, and consequently, the errors in IMU sensors and navigation solution can be compensated. Especially with attitude measurement from the attitude GPS receiver, the compensation of errors in gyroscope and attitude would be done respite of the vehicle´s dynamics and their error covariance would be reduced. This paper presents ...

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.38.1-38
• /
• 2002

In steel works, Locomotives and torpedo ladle cars are used to convey the smelted iron that comes out Blast Furnace to the mill making mill. In this process, Identification of the vehicles position is very important because the area is broad and efficient operation affects a productivity and investment. At present condition, there are many ways to use to identify the vehicles number and position. This paper will present the new ways using GPS/DR based method. For this, we practiced the site test to gather the real data. First, we collect the velocity data at the wheel of the vehicles with the direction data via process computer. Second, after installing the gyroscope we gathered the data wit...

• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.142-146
• /
• 1991

In order to develope transfer alignment algorithm which achieves accurate initial alignment of slave strapdown inertial navigation system(SDINS) of a missle using master SDINS of mobile launchers third-order suboptimal filter is constructed to estimate the transformation matrix between two SDINS coordinates. In Kalman Filter formulation, the measurement equation uses that of accelerometer when stationary, and is replaced by that of gyroscope when elevating the missle. This switching method is applied to increase the degree of observability and to remove the error generated by lever arm effect. Simulation results show that the azimuth transfer error is about 0.3 mrad, and confirm that this scheme has a potential for real application.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.643-648
• /
• 1988

A strapdown inertial navigation system fabrication utilizing dynamically tuned gyroscope was finished as a first stage development. So it's design, fabrication and tests are reported. Although this system lacks in accuracy compared with the cimballed system, factors such as low cost, small size and lightness make it useable in wide range of applications. The initial cost for investment is relatively cheap, and so it is best suitable for local development in various kind of inertial navigation system. Since all of the locally used systems are imported and even with it's close relation to the military, foreign technical transfer is practically non-existent. The independent local development of such system at a time of domestic initation in aerospace and defense industry, can be seen as a significant milestone in the advancement of the inertial navigaion system field.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.11 no.2
• /
• pp.139-144
• /
• 2016

This paper provides an overview of recent trends in sensor fusion technologies for vehicle positioning. The GNSS by itself cannot satisfy precision and reliability required by autonomous driving. We survey sensor fusion techniques that combine the outputs from the GNSS and the inertial navigation sensors such as an odometer and a gyroscope. Moreover, we overview landmark-based positioning that matches landmarks detected by a lidar or a stereo vision to high-precision digital maps.

• International Journal of Aeronautical and Space Sciences
• /
• v.8 no.1
• /
• pp.105-114
• /
• 2007

This article presents the details of a designed control moment gyroscope (CMG) with a constant speed momentum wheel and one-axis-gimbal, and its experimental results performed at Korea Aerospace Research Institute. The CMG which is able to produce a torque of lOO mNm per each, is mounted in a pyramid configuration with four SGCMGs. Each CMG test and a single axis maneuver test with four-CMG cluster configuration are performed to confirm their performance on a ground-test facilities consisted of three major parts: a vibration isolation system, a dynamic force plate (Kistler sensor), and a DSP board. These facilities provide the accurate data of three axial and torques from the control moment gyro. Details of the CMG experimental results are presented with discussion of the experimental errors. The experimental data are compared with theoretical results and both results are used to verify their performance specifications.