• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.860-863
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• 1996

In this paper, we formulate the extended Kalman filter for calibration of gimballed inertial navigation system (GINS) at a pure navigation mode with 1500 ft/sec initial velocity and compare its performance to the linear Kalman filter's by using Monte-Carlo analysis method. It has been shown that estimation performance of the extended Kalman filter is better than that of the linear Kalman filter.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.47-49
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• 2005

This paper presents a robust speed control method of induction motors(IM) using a Non-linear PI controller(NPI), NPI is high gain controller in region of small error, and low gain controller in region of large error. so in steady state, system will be robust against variation of load torque. The simulation and experiment results confirm the validity of proposed control scheme.

• 한국군사과학기술학회지
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• 제21권1호
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• pp.47-60
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• 2018

In this paper, we proposed a method for eliminating aiming error of unguided anti-tank rocket using improved target tracking. Since predicted fire is necessary to hit moving targets with unguided rockets, a method was proposed to estimate the position and velocity of target using fire control system. However, such a method has a problem that the hit rate may be lowered due to the aiming error of the shooter. In order to solve this problem, we used an image-based target tracking method to correct error caused by the shooter. We also proposed a robust tracking method based on TLD(Tracking Learning Detection) considering characteristics of the FCS(Fire Control System) devices. To verify the performance of our proposed algorithm, we measured the target velocity using GPS and compared it with our estimation. It is proved that our method is robust to shooter's aiming error.

• 터널과지하공간
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• 제31권6호
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• pp.508-519
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• 2021

본 연구에서는 발파 시 사람과 주변 환경에 영향을 끼치는 발파진동(peak particle velocity, PPV)을 예측하는 모델을 개발하였다. PPV를 예측하기 위해 kNN(k-nearest neighbors), CART(classification and regression tree), SVR(support vector regression), PSO(particle swarm optimization)-SVR 알고리즘을 이용한 4가지 머신러닝 모델을 개발하고 상호 비교하였다. 머신러닝 모델을 훈련하기 위해 경상남도 창원시에 있는 욕망산을 연구지역으로 선정하고 1048개의 발파 데이터를 획득하였다. 발파 데이터는 천공장, 저항선, 공간격, 최대지발장약량, 비장약량, 총공수, 에멀전비율, 이격거리, PPV로 구성되었다. 훈련된 모델들의 성능을 평가하기 위한 지표 값으로 MAE(mean absolute error), MSE(mean squared error), RMSE(root mean squared error)를 사용하였다. 평가결과 PSO-SVR 모델이 MAE, MSE, RMSE가 각각 0.0348, 0.0021, 0.0458으로 가장 우수한 예측 성능을 나타냈다. 마지막으로 개발된 머신러닝 모델을 이용하여 주변 환경에 영향을 끼치는 정도를 예측하는 방법을 제시하였다.

• 제어로봇시스템학회논문지
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• 제20권4호
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• pp.468-473
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• 2014

This paper describes the in-flight alignment of SDINS (Strapdown Inertial Navigation Systems) using an EKF (Extended Kalman Filter) and a UKF (Unscented Kalam Filter), which allow large initial attitude error uncertainty. Regardless of the inertial sensors, there are nonlinear error dynamics of SDINS in cases of large initial attitude errors. A UKF that is one of the nonlinear filtering approaches for IFA (In-Flight Alignment) are used to estimate the attitude errors. Even though the EKF linearized model makes velocity errors when predicting incorrectly in case of large attitude errors, a UKF can represent correctly the velocity errors variations of attitude errors with nonlinear attitude error components. Simulation results and analyses show that a UKF works well to handle large initial attitude errors of SDINS and the alignment error attitude estimation performance are quite improved.

• International Journal of Control, Automation, and Systems
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• 제6권1호
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• pp.54-61
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• 2008

This paper presents a method for reducing modelling error in the linear motion system with voicecoil actuator (VCA). A model of linear motion system composed of a mechanism and control was prepared to verify the proposed method. In modeling of the system, the damping coefficient obtained experimentally is applied to the model in order to consider the effect of the viscous friction for the moving part in VCA. The response velocity of VCA for duty ratio of PWM signal was analyzed in the time domain. Consequently, the relation between velocity and duty ratio was obtained. The result from the experiment showed an error of 9% when compared with that of simulation. In order to reduce the modeling error, impedance variation according to input frequency was analyzed, and equivalent impedance with multi-frequency was applied to the control part. As a result, the modeling error decreased to 5%.

• 한국군사과학기술학회지
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• 제13권4호
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• pp.708-715
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• 2010

In Strapdown Inertial Navigation System, alignment accuracy is the most important factor to determine the performance of navigation. However by an existing self-alignment method, it takes a long time to acquire the alignment accuracy that we want. So, to attain the desired alignment accuracy in as little as $\bigcirc$ minutes, we have developed the precise multi-position alignment method. In this paper, it is proposed a inertial measurement matching transfer alignment method among alignment methods to minimize the alignment error in a short time. It is based on a mixed velocity-DCM matching method be suitable to the operating environment of vertical launching system. The compensation methods to reduce misalign error, especially azimuth angle error incurred by measurement time-delay error and body flexure error are analyzed and evaluated with simulation. This simulation results are finally confirmed by experimentations using FMS(Flight Motion Simulator) in Lab and the integration test to follow the fire control mission.

• 한국측량학회지
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• 제37권2호
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• pp.71-79
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• 2019

Geolocation accuracy is one of the important factors in utilizing all weather available SAR satellite imagery. In this study, an error budget analysis was performed on key variables affecting on geolocation accuracy by generating KOMPSAT-5 simulation data. To perform the analysis, a Range-Doppler model was applied as a geometric model of the SAR imagery. The results show that the geolocation errors in satellite position and velocity are linearly related to the biases in the azimuth and range direction. With 0.03cm/s satellite velocity biases, the simulated errors were up to 0.054 pixels and 0.0047 pixels in the azimuth and range direction, and it implies that the geolocation accuracy is sensitive in the azimuth direction. Moreover, while the clock drift causes a geolocation error in the azimuth direction, a signal delay causes in the range direction. Monte-Carlo simulation analysis was performed to analyze the influence of multiple geometric error sources, and the simulated error was up to 3.02 pixels in the azimuth direction.

• 한국군사과학기술학회지
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• 제12권4호
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• pp.508-515
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• 2009

In the naval environment, a naval radar has many obstructions of velocity, such as rotation and velocity of ship. In the common situation, the rotations such as roll, pitch and yaw don't influence the velocity of the target. But because the naval radar is located on the top of the mast, there is some influence to the target velocity. When we trace the target, radar controller doesn't use hits whose doppler banks are zero. So, we must compensate the target velocity for the velocity error. This paper suggests a method of velocity compensation of target by the velocity vector and how to apply to the stack beam radar if we don't know the height of the target.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.140-142
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• 2007

This paper presents an effective method of precise velocity control at low speed with a low resolution encoder. Multirate observer to estimate the velocity at every DSP control period is used except a constant velocity mode. The observer corrects the estimation error when detects pulse signal. Unlike the conventional methods, the multirate estimator is stable at a low speed. However, the multirate estimator shows ripples at a constant velocity. Thus, in this paper we use a velocity prediction method which uses the present velocity from the previous average velocity to reject the ripple. In a summary, at a constant speed mode, the predicted velocity is used. Otherwise, the estimated velocity by the multirate obvserver is used. The effectiveness of the multirate observer and ripple rejection at low speed is verified through various simulations.