• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.56.1-56
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• 2001

Initial attitude error is one of the large error sources in the navigation errors of SDINS. And it is important to decide the initial attitude of SDINS. The method, like a self-alignment or a transfer alignment method, is required to a precise INS. If we do not have a precise INS, we should get large attitude error. After performing the initial alignment, a vehicle has the initial attitude error. Therefore, it results in navigation error due to the initial attitude error. But, if we use position information during flight, we could estimate and compensate a vehicle attitude error. So, we can maintain a precise attitude in spite of existing the initial attitude error. Using the uplinked position information from a land-based radar system, the new algorithm estimates the attitude of the SDINS during flight ...

• Journal of Positioning, Navigation, and Timing
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• v.6 no.1
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• pp.35-41
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• 2017

Precise Point Positioning (PPP) method is based on dual-frequency data of Global Navigation Satellite Systems (GNSS). The recent multi-constellations GNSS (multi-GNSS) enable us to bring great opportunities for enhanced precise positioning, navigation, and timing. In the paper, the multi-GNSS PPP with a combination of four systems (GPS, GLONASS, Galileo, and BeiDou) is analyzed to evaluate the improvement on positioning accuracy and convergence time. GNSS observations obtained from DAEJ reference station in South Korea are processed with both the multi-GNSS PPP and the GPS-only PPP. The performance of multi-GNSS PPP is not dramatically improved when compared to that of GPS only PPP. Its performance could be affected by the orbit errors of BeiDou geostationary satellites. However, multi-GNSS PPP can significantly improve the convergence speed of GPS-only PPP in terms of position accuracy.

• Journal of Advanced Navigation Technology
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• v.22 no.6
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• pp.577-584
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• 2018

GNSS based transport infrastructure cluster is to broadcast satellite navigation correction information and integrity information capable of precise positioning for land transport users. This makes it possible to do lane-level positioning reliably. However, in order to provide the lane-level positioning and correction information service nationwide, new station sites selection and to build GNSS stations have a heavy cost and a burden for a considerable period of time. In this paper, we propose the cluster design criteria and national-wide network-based precise positioning for land transportation (NETPPI-LT) cluster design for a cluster-based precise positioning. Furthermore, it is analyzed the precise positioning pre-performance of this cluster design based on the spatial error and verified its suitability as the precise positioning pre-performance of the cluster design.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.35 no.6
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• pp.471-484
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• 2017

GNSS PWV (Precipitable Water Vapor) is recognized as an important factor for weather forecasts of typhoons and heavy rainfall. Domestic and foreign research have been published that improve weather forecasts using GNSS PWV as initial input data to NWP (Numerical Weather Prediction) model. For rainfall-related weather forecasts, PWV should be provided in real time or NRT (Near-Real Time) and the accuracy and integrity should be maintained. In this paper, the development process of NRT GNSS PWV system using PPP (Precise Point Positioning). To this end, we optimized the variables related to tropospheric delay estimation of PPP. For the analysis of the PPP NRT PWV system, we compared the PWV precision of RP (Relative Positioning) and PPP. As a result, the accuracy of PPP was lower than that of RP, but good results were obtained in the PWV data integrity. Future research is needed to improve the precision of PWV in the PPP method.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1079-1085
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• 2012

For precise motion control, S-curve velocity profile is generally used but it has disadvantage of relatively long calculation time for floating-point arithmetics. In this paper, we present a new generating method for velocity profile to reduce delay time of profile generation so that it overcomes such disadvantage and enhances the efficiency of precise motion control. In this approach, the velocity profile is designed based on the gamma correction expression that is generally used in image processing to obtain a smoother movement without any critical jerk. The proposed velocity profile is designed to support both T-curve and S-curve velocity profile. It can generate precise profile by adding an offset to the velocity profile with decimals under floating point that are not counted during gamma correction arithmetic operation. As a result, the operation time is saved and the efficiency is improved. The proposed method is compared with the existing method that generates velocity profile using ring buffer on a 8-bit low-cost MCU. The result shows that the proposed method has no delay in generating driving profile with good accuracy of each cycle velocity. The significance of the proposed method lies in reduction of the operation time without degrading the motion accuracy. Generated driving signal also shows to verify effectiveness of the proposed method.

• Proceedings of the Korean Vacuum Society Conference
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• 2012.02a
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• pp.436-437
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• 2012

Double patterning technology (DPT) has been suggested as a promising candidates of the next generation lithography technology in FLASH and DRAM manufacturing in sub-40nm technology node. DPT enables to overcome the physical limitation of optical lithography, and it is expected to be continued as long as e-beam lithography takes place in manufacturing. Several different processes for DPT are currently available in practice, and they are litho-litho-etch (LLE), litho-etch-litho-etch (LELE), litho-freeze-litho-etch (LFLE), and self-aligned double patterning (SADP) [1]. The self-aligned approach is regarded as more suitable for mass production, but it requires precise control of sidewall space etch profile for the exact definition of hard mask layer. In this paper, we propose etch end point detection (EPD) in spacer etching to precisely control sidewall profile in SADP. Conventional etch EPD notify the end point after or on-set of a layer being etched is removed, but the EPD in spacer etch should land-off exactly after surface removal while the spacer is still remained. Precise control of real-time in-situ EPD may help to control the size of spacer to realize desired pattern geometry. To demonstrate the capability of spacer-etch EPD, we fabricated metal line structure on silicon dioxide layer and spacer deposition layer with silicon nitride. While blanket etch of the spacer layer takes place in inductively coupled plasma-reactive ion etching (ICP-RIE), in-situ monitoring of plasma chemistry is performed using optical emission spectroscopy (OES), and the acquired data is stored in a local computer. Through offline analysis of the acquired OES data with respect to etch gas and by-product chemistry, a representative EPD time traces signal is derived. We found that the SE-EPD is useful for precise control of spacer etching in DPT, and we are continuously developing real-time SE-EPD methodology employing cumulative sum (CUSUM) control chart [2].

• Journal of Positioning, Navigation, and Timing
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• v.10 no.4
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• pp.279-289
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• 2021

GNSS receivers capable of tracking multiple Global Navigation Systems (GNSSs) simultaneously are widely used. In order to estimate accurate user position and velocity, it is necessary to consider the key elements that contribute to the interoperability of the different GNSSs. Typical examples are the time system and the coordinate system. Each GNSS is operated based on its own reference time system depending on when the system was developed and whether the leap seconds are applied. In addition, each GNSS is designed based on its own coordinate system based on earth model constant values. This paper addresses the interoperability issues from the viewpoint of Single Point Positioning (SPP) users utilizing multiple GNSS signals from GPS, GLONASS, BeiDou, and Galileo. Since the broadcast ephemerides of each GNSS are based on their own time and coordinate systems, the time and the coordinate systems should be unified for any user algorithm. For this purpose, this paper proposes a method of converting each GNSS coordinate system into the reference coordinate system through Helmert transformation. The error of the broadcast ephemerides was calculated with the precise ephemerides provided by the International GNSS Service (IGS). The effectiveness of the proposed multi-GNSS correction and transformation method is verified using the Multi-GNSS Experiment (MGEX) station data.

• IEMEK Journal of Embedded Systems and Applications
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• v.18 no.3
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• pp.117-124
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• 2023

In the machine vision inspection equipment, diameter measurement is important process in inspection of cylindrical object. However, machine vision inspection equipment requires complex algorithm processing such as camera distortion correction and perspective distortion correction, and the increase in processing time and cost required for precise diameter measurement. In this paper, we proposed the algorithm for diameter measurement of cylindrical object using the laser displacement sensor. In order to fit circle for given four input outer points, grid search algorithms using root-mean-square error and mean-absolute error are applied and compared. To solve the limitations of the grid search algorithm, we finally apply the singular-value-decomposition based circle fitting algorithm. In order to compare the performance of the algorithms, we generated the pseudo data of the outer points of the cylindrical object and applied each algorithm. As a result of the experiment, the grid search using root-mean-square error confirmed stable measurement results, but it was confirmed that real-time processing was difficult as the execution time was 10.8059 second. The execution time of mean-absolute error algorithm was greatly improved as 0.3639 second, but there was no weight according to the distance, so the result of algorithm is abnormal. On the other hand, the singular-value-decomposition method was not affected by the grid and could not only obtain precise detection results, but also confirmed a very good execution time of 0.6 millisecond.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1796-1799
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• 1997

This thersis presents precise position control emthods of a 3-PRPS in-parallel manipulator for industrial applications such as assembly of highly integrated semiconductors and microsurgery. Since real-time ontrol is one of the most important issues required for industrial application, the experimental hardware is set up with a VME based DSP controller. In the 3-PRPS parallel mainpulator, structurally existing frictiion at three horizontal links considerably degrades the precise position control. In order to compensate the friction of the horizontal links in the joint space, a disturbance compensation usign disturbance and velocity observers has been proposed and investigated. We analyzed the decision method of eigenvalues of the disturbance observer and the effects of the control resulted form tehsystem model errors. Through a series of simulations and experiments, we see that the methods is capable of compensating variations of the robot parameters such as inertia and damping as well as the joint friction. Experiments show that the disturbance compensation method usign disturbance and velocity observer is very effective to compensate the friction. Compared with conventional PID position control, it decreased position errors ina circular motion by approximately 70%.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.10
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• pp.122-129
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• 2008

This paper deals with precise positioning of a high-speed positioning stage without inducing residual vibration by using an input shaping technique. Input shaping is well known to be a very effective tool for suppressing the residual vibration of flexible structures. However, the ordinary input shaping for positioning stages is designated mostly for velocity regulation, not for the residual vibration at the target position. The main difficulties in implementing input shaping along with precise positioning are the time delay caused by the servo system characteristics and the s-curve feature often employed in some motor controllers. This paper analyzes the dynamic responses of a single-mode-dominate stage system subjected to input shaping. A theoretical model is developed io investigate the nature of system. In order to overcome the difficulty, this paper proposes an improved input shaper based on modified command profile generation. The proposed method is proved effective through experiments and simulations.