• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.167.5-167
• /
• 2001

Single point attitude determination method provides an optimal attitude minimizing the Wahba loss function. However, for the insufficient number of measurement vectors, the conventional single point methods has no unique solution. Thus, we introduce the sequential method to and an optimal attitude minimizing the windowed loss function. In this paper, this function is de ned as the sum of square errors for all measurement vectors within the axed sliding window. For simple implementation, the proposed algorithm is rewritten as a recursive form. Moreover, the covariance matrix is derived and expressed as a recursive form. Finally, we apply this algorithm to the attitude determination system with three LOS measurement sensors.

• 제어로봇시스템학회논문지
• /
• 제2권3호
• /
• pp.242-247
• /
• 1996

In this paper, an optimal coning compensation algorithm for strapdown system is proposed by minimizing the coning error. The proposed algorithm is derived as a generalized form in that it contains the class of the existing coning algorithms and allows the design of optimal algorithm for various combinations of gyro samples. It is shown the magnitude of resulting algorithm errors depends mainly on the total number of gyro samples including present and previous gyro samples. Based on the results, the proposed algorithm enables the algorithm designers to develop the effective coning compensation algorithm according to their attitude computation specifications with ease. In addition, the multirate method which can efficiently implement the algorithm is presented.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2001년도 하계학술대회 논문집 D
• /
• pp.2092-2095
• /
• 2001

In this paper, the performance of a new alternative form of three-axis attitude estimation algorithm for a rigid body is evaluated via simulation for the situation where the observed vectors are the estimated baselines of a GPS antenna array. This method is derived based on a simple iterative nonlinear least-squares with four elements of quaternion parameter. The representation of quaternion parameters for three-axis attitude of a rigid body is free from singularity problem. The performance of the proposed algorithm is compared with other eight existing methods, such as, Transformation Method (TM), Vector Observation Method (VOM), TRIAD algorithm, two versions of QUaternion ESTimator (QUEST), Singular Value Decomposition (SVD) method, Fast Optimal Attitude Matrix (FOAM), Slower Optimal Matrix Algorithm (SOMA).

• 한국군사과학기술학회지
• /
• 제7권2호
• /
• pp.13-21
• /
• 2004

GPS is widely used in various applications since GPS receivers are capable of measuring precise position and velocity in any weather condition for a relatively low cost. However, GPS requires more than four simultaneously visible GPS satellites for optimal performance. In high-motion, high-attitude-changing applications, there exist some situations where less than four satellites are visible or where the dilution of precision (DOP) is high. In this paper, we propose a simulation algorithm that predicts the performance of GPS navigation according to changes in vehicle attitude. We have compared simulation results with experimental results, where simulation results of the proposed algorithm are shown to closely match actual experimental data. This algorithm could be used to predict GPS navigational performance and to determine optimal GPS antenna position.

• 제어로봇시스템학회논문지
• /
• 제7권2호
• /
• pp.173-182
• /
• 2001

Ascent trajectory optimization and optimal explicit guidance problems for a satellite launch vehicle in a 2-dimensional pitch plane are studied. The trajectory optimization problem with boundary conditions is formulated as a nonlinear programming problem by parameterizing the pitch attitude control variable, and is solved by using the SQP algorithm. The flight constraints such as gravity-turn are imposed. An optimal explicit guidance algorithm in the exoatmospheric phase is also presented, the guidance algorithm provides steering command and time-to-go value directly using the current states of the vehicle and the desired orbit insertion conditions. To verify the optimality and accuracy of the algorithm simulations are performed.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2000년도 추계학술대회논문집A
• /
• pp.584-589
• /
• 2000

When the liquid tanks only partially filled and under translational acceleration, large quantities of liquid move uncontrollably inside the tanks and generate the liquid sloshing effect. Liquid sloshing effect could be a severe problem in launch vehicle stability and control if the liquid modes of motion couple significantly with the launch vehicle's normal modes of motion. Several methods have been employed to reduce the effect of sloshing, such as introducing baffles inside the tanks or dividing a large tank into a number of smaller ones. These techniques, although helpful in some cases, do not succeed in canceling the sloshing effects. In this paper, An attitude controller is designed for a launch vehicle with liquid sloshing effect. Both PD controller and sloshing filter are designed for the objective. PD gains and design parameters are determined by optimal algorithm. The performance of the attitude controller is evaluated via computer simulations.

• Advances in aircraft and spacecraft science
• /
• 제9권5호
• /
• pp.433-447
• /
• 2022

This work deals with an explicit guidance and control architecture for autonomous lunar ascent and orbit injection, i.e., the locally-flat near-optimal guidance, accompanied by nonlinear reduced-attitude control. This is a new explicit guidance scheme, based on the local projection of the position and velocity variables, in conjunction with the real-time solution of the associated minimum-time problem. A recently-introduced quaternion-based reduced-attitude control algorithm, which enjoys quasi-global stability properties, is employed to drive the longitudinal axis of the ascent vehicle toward the desired direction. Actuation, based on thrust vectoring, is modeled as well. Extensive Monte Carlo simulations prove the effectiveness of the guidance, control, and actuation architecture proposed in this study for precise lunar orbit insertion, in the presence of nonnominal flight conditions.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.377-382
• /
• 2005

This paper presents a new method for the attitude control of planar space robots. In order to control highly constrained non-linear system such as a 3D space robot, the analytical formulation for the system with complex dynamics and effective control methodology based on the formulation, are not always obtainable. In the proposed method, correspondingly, a non-analytical but effective self-organizing modeling method for controlling a highly constrained system is proposed based on a polynomial data mining algorithm. In order to control the attitude of a planar space robot, it is well known to require inputs characterized by a special pattern in time series with a non-deterministic length. In order to correspond to this type of control paradigm, we adopt the Model Predictive Control (MPC) scheme where the length of the non-deterministic horizon is determined based on implementation cost and control performance. The optimal solution to finding the size of the input pattern is found by a solving two-stage programming problem.

• 한국항공우주학회지
• /
• 제37권1호
• /
• pp.36-41
• /
• 2009

임무를 수행하는데 있어 정확한 자세 정보는 필수적이다. 두 개 또는 그 이상의 관측벡터를 이용하는 자세 결정 알고리듬에는 크게 두 가지가 널리 알려져 있다. 하나는 결정적인 방법인 TRIAD 알고리듬이며, 다른 하나는 최적의 해를 찾는 방법인 QUEST 알고리듬이다. 본 논문은 TRIAD 알고리듬의 성능 향상과 서로 다른 정확도를 가진 센서의 조합을 이용한 자세 결정 방법을 제안하였다. 첫째, 보다 정확한 자세 행렬을 구하기 위하여 직교화 방법을 이용하는 대신 방향 여현 행렬을 오일러 각으로 바꾸고, 분산 대신 공분산행렬을 고려하여 편향되지 않은 최소 공분산 기법을 적용하였다. 또한, 세 개 이상의 측정값이 주어졌을 경우 TRIAD 알고리듬을 적용할 수 있는 방법을 제안하였다. 제안된 평균 TRIAD 알고리듬의 성능은 서로 다른 센서의 조합을 가정하여 표준편차와 확률적 측면에서의 수치 시뮬레이션을 통해 분석되었다.

• 제어로봇시스템학회논문지
• /
• 제6권12호
• /
• pp.1120-1125
• /
• 2000

This paper presents a technique for estimating the attitude of a model helicopter at near hovering using a combination of inertial and non-inertial sensors such as gyroscope and potentiometer. To estimate the attitude of helicopter a simplified indirect Kalman filter based on sensor modeling is derived and the characteristics of sensors are studied, which are used in determining the optimal Kalman gain. To verify the effectiveness of the proposed algorithm simulation results are presented with real flight data. Our approach avoids a complex dynamic modeling of helicopter and allows for an elegant combination of various sensor data with different measurement frequencies. We also describe the method of implementation of the algorithm in the model helicopter.