• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1259-1261
• /
• 2003

The vehicle's heading angle determination is formulated and the proposed method based on geometry engages the magnetometer and the GPS. The resulting maximum determination accuracy of 0.3deg over the entire earth as a standard deviation is obtained for a magnetometer with measurement error of 1nT.

• 한국측량학회:학술대회논문집
• /
• 한국측량학회 2004년도 춘계학술발표회논문집
• /
• pp.59-64
• /
• 2004

In this paper, the error compensation method of the low-cost IMU is proposed. In general, the position and attitude error calculated by accelerometers and gyros grows with time. Therefore the additional information is required to compensate the drift. The attitude angles can be bound accelerometer mixing algorithm and the heading angle can be aided by single antenna GPS velocity. The Kalman filter is used for error compensation. The result is verified by comparing with the attitude calculated by Attitude Heading Reference System with Micro Electro Mechanical System for a basis

• 한국작물학회지
• /
• 제27권1호
• /
• pp.49-54
• /
• 1982

보리의 생리적 성숙기를 외시적 형질의 변이로서 판정할 수 있는 기준을 설정하여 효과적인 단기 등숙성 계통선발과 등숙유전 연구에 활용하고저 33 품종 및 계통을 4 출수군으로 분류하여 5개 형질에 대하여 검토하였다. 그 결과를 요약하면 다음과 같다. 1. 조기출수 품종일수록 등숙기간이 길어져 출수기와 등숙기간에는 고도의 부의 상관(r=0.656$^{**}$ )를 보였고, 품종간 등숙기간의 차이가 인정되었다. 2. 성숙기 결정에 이용된 각형질중 수분함량과 외영의 색도변화가 가장 유효하였다. 3. 생리적 성숙기를 외시적 측정에 의하여 결정할 때 외영의 색도가 가장 안정하고 민감하게 변화하여 유용한 형질이었다. 또한 지엽의 색도변화를 같이 고려한다면 더 정확한 숙기판단이 될 것으로 본다. 4. 이 시기에 외영의 색은 Grayish yellow (연회황색)이었고, 평균 수분함량은 약 33%이었다.

• 한국농공학회지
• /
• 제26권4호
• /
• pp.37-51
• /
• 1984

The purpose of this study is to find out the determination method of designed duty of water in the rice fields through the comparison of the net unit duty of water at the late reduction division to heading stage with that at the planting stage. The data used for analysing this problem are the data of precipitation and gauge evaporation observed by Cheong-ju Meterological Center, the coefficient of evapotranspiration by College of Agriculture, Chung Buk University and the data of transplanting progressing in Boun area. The results obtained from this analysis are summarized as follows. 1.The occurring year of 1/10 probability value for available precipitation, gauge evaporation and mean maximum daily evapotranspiration during growing season is the year of 1977. 2.The 1/10 probability values of mean maximum evapotranspiration per day under the production rate of 1, 400kg/l0a and 1, 500kg/10a based on the weight of dry matters are 9. 2mm/day and 9. 6mm/day, respectively. 3.The net unit duty of water required in the fields that the maximum planting rate exists is more than the one in the fields that the planting rate is uniform in the planting stage. 4.The determination of net unit duty of water in the late reduction division to heading stage or the planting stage depends upon the daily evapotranspiration and percolation rate in the late reduction division to heading stage or the water depth required for planting and daily consumptive use of water after planting at the planting stage. Therefore the use of figure 5-(1) to figure 5-(6) can easily make the determination of the designed net unit duty of water out of above two kinds of net unit duty of water.

• 한국항해항만학회:학술대회논문집
• /
• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
• /
• pp.271-275
• /
• 2006

This paper describes the design and realization of full attitude system based on MEMS IMU and GPS carrier phase. The work can be divided into two parts: First, initial heading is determined by using two GPS receivers. And this paper discusses the usage of space geometry conditions to reduce the range of ambiguity search. The method presented in this paper was tested on the static. On the static condition, an accuracy better than 0.06 degrees for heading for 3.48m long baseline has been achieved. Integration of GPS and low cost MEMS IMU are used to realize the real-time heading attitude system. Second, level attitude (pitch and roll) is determined using the method of frequency-velocity for the feedback control. At the same time, the method using the attitude based on MEMS IMU to help determination of the range of ambiguity search is proposed. The results done on the sea show that an alternative means to provide real-time, cost-effective, accurate and reliable attitude information for attitude surveys. Though motivated by a big ships application, the design can be applied to other vehicles.

• 한국측량학회:학술대회논문집
• /
• 한국측량학회 2004년도 추계학술발표회 논문집
• /
• pp.117-121
• /
• 2004

In this paper, the error compensation method of the low-cost IMU is proposed. In general, the position and attitude error calculated by accelerometers and gyros grows with time. Therefore the additional information is required to compensate the drift. The attitude angles can be bound accelerometer mixing algorithm and the heading angle can be aided by single antenna GPS velocity. The Kalman filter is used for error compensation. The result is verified by comparing with the attitude calculated and dynamics position determination by Attitude Heading Reference System with Micro Electro Mechanical System for a basis

• 한국환경농학회지
• /
• 제27권4호
• /
• pp.460-463
• /
• 2008

The change of glutelin contents in rice grain during the maturity period was investigated to determine optimum rice harvesting time. The glutelin content was increased with increasing time after heading. In this study, eight of glutelin subunits were found. Among the glutelin subunits, 7208-subunit (MW, 35 kD) contents was significantly increased at 65 days after heading compared with 55 and 60 days after heading. 7405-subunit (MW, 50 kD) contents was steadily increased with time after heading. The results showed that at 55th day after heading would be optimum time for harvest to get the low glutelin content of rice grain.

• International Journal of Aeronautical and Space Sciences
• /
• 제18권3호
• /
• pp.555-564
• /
• 2017

In this paper, a new technique for attitude and heading reference system (AHRS) using low-cost MEMS sensors of the gyroscope, accelerometer, and magnetometer is addressed particularly in vibration environments. The motion of MEMS sensors interact with the scale factor and cross-coupling errors to produce random errors by the harsh environment. A new adaptive attitude estimation algorithm based on the Kalman filter is developed to overcome these undesirable side effects by analyzing windowed measurement error covariance. The key idea is that performance degradation of accelerometers, for example, due to linear vibrations can be reduced by the proposed measurement error covariance analysis. The computed error covariance is utilized to the measurement covariance of Kalman filters adaptively. Finally, the proposed approach is verified by using numerical simulations and experiments in an acceleration phase and/or vibrating environments.

• 대한전기학회논문지:시스템및제어부문D
• /
• 제50권2호
• /
• pp.72-79
• /
• 2001

In the GPS/DR integrated system, the GPS position(or velocity) is used to compensate the DR output and to calibrate errors of the DR sensor. This synergistic relationship ensures that the calibrated DR accuracy can be maintained even when the GPS signal is blocked. Because of the observability problem, however, the DR sensors are not sufficiently calibrated when the vehicle speed is low. This problem can be solved if we use a multi-antenna GPS receiver for attitude determination instead of conventional one. This paper designs a two-antenna GP receiver integrated with DR sensors. The proposed integration system has three remarkable features. First, the DR sensor can be calibrated regardless of the vehicle speed with the aid of two-antenna GPS receiver. Secondly, the search space of integer ambiguities in GPS carrier-phase measurements is reduced to a part of the surface of the sphere using DR heading. Thirdly, the detection resolution of cycle-slips in GPS carrier-phase measurements is improved with the aid of DR heading. From the experimental result, it is shown that the search space is drastically reduced to about 3/20 of the non-aided case and the cycle-slips of 1 or half cycle can be detected.

• 한국항해항만학회:학술대회논문집
• /
• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
• /
• pp.251-256
• /
• 2006

In the work package 'Integrated Positioning' of the research project NAVIO (Pedestrian Navigation Systems in Combined Indoor/Outdoor Environements) we are dealing with the navigation and guidance of visitors of our University. Thereby start points are public transport stops in the surroundings of the Vienna University of Technology and the user of the system should be guided to certain office rooms or persons. For the position determination of the user different location sensors are employed, i.e., for outdoor positioning GPS and dead reckoning sensors such as a digital compass and gyro for heading determination and accelerometers for the determination of the travelled distance as well as a barometric pressure sensor for altitude determination and for indoor areas location determination using WiFi fingerprinting. All sensors and positioning methods are combined and integrated using a Kalman filter approach. Then an optimal estimate of the current location of the user is obtained using the filter. To perform an adequate weighting of the sensors in the stochastic filter model, the sensor characteristics and their performance was investigated in several tests. The tests were performed in different environments either with free satellite visibility or in urban canyons as well as inside of buildings. The tests have shown that it is possible to determine the user's location continuously with the required precision and that the selected sensors provide a good performance and high reliability. Selected tests results and our approach will be presented in the paper.