• 제어로봇시스템학회논문지
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• 제3권3호
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• pp.238-243
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• 1997

A new transfer alignment algorithm using the velocity and the quaternion partial matching methods is proposed to reduce the effect of a ship's Y-axis flexure on the performance of azimuth error estimation of Kalman filter. The simulation results show that it can significantly reduce the effect of Y-axis flexure on error estimation by the transfer alignment algorithm. As its results, azimuth transfer alignment error is reached up to 3 mrad under proper roll and pitch attitude motion of the ship.

• 전자공학회논문지
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• 제50권1호
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• pp.276-284
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• 2013

본 논문에서는 관성항법시스템의 전달정렬시 속도정합 알고리듬에 대하여 지렛대 거리 오차의 가관측성 분석을 수행하였다. 이를 위해 지렛대 거리 오차를 포함한 칼만필터 상태 변수를 모델링하였고 측정 방정식을 구성하였다. 가관측성 분석 방법으로는 SOM을 이용하였고 다양한 항체의 운항 조건들에 대하여 가관측성 분석을 수행하였다. 기존의 지렛대 거리 오차를 포함한 가관측성 분석 기법들은 시뮬레이션을 통한 분석이 주를 이룬 반면에 본 논문에서는 상태 변수들이 완전 가관측하기 위한 항체의 운항 조건을 해석적으로 제시하였다. 그리고 시뮬레이션을 수행하여 분석 결과를 검증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.867-870
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• 1996

Often an INS has to be aligned in navigation. In these cases it is necessary to obtain some reference information on the state of the aligned INS(Slave) such as its position, its velocity of its angular rate. Usually the reference information is velocity which is supplied by another reference INS. In the alignment state the velocity computed by the reference INS(Master) is compared with that computed by the slave INS and the difference which is indicative of the slave misalignment with respect to the master, is processed by a Kalman filter which estimates misalignment as well as the slave gyro and accelerometer error states. The operation of aligning a slave INS with a master INS comparing quantities computed by both INS is known as transfer alignment. The delivery vehicle performs error these maneuvers enable the TA Kalman filter to separate between the tilt errors and the accelerometer biases which otherwise are unobservable. The basic objective this paper is to study the observability enhancement by ship's maneuvering and matching methods during transfer alignment at sea.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제14권1호
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• pp.131-147
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• 2020

RFID (Radio Frequency Identification) identifies a specific object by radio signals. As the tag provides a unique ID for the purpose of identification, RFID technology effectively solves the ambiguity and occlusion problem that challenges the laser or camera-based approach. This paper proposes an approach to track a moving object based on the integration of RFID and laser ranging information using a particle filter. To be precise, we split laser scan points into different clusters which contain the potential moving objects and calculate the radial velocity of each cluster. The velocity information is compared with the radial velocity estimated from RFID phase difference. In order to achieve the positioning of the moving object, we select a number of K best matching clusters to update the weights of the particle filter. To further improve the positioning accuracy, we incorporate RFID signal strength information into the particle filter using a pre-trained sensor model. The proposed approach is tested on a SCITOS service robot under different types of tags and various human velocities. The results show that fusion of signal strength and laser ranging information has significantly increased the positioning accuracy when compared to radial velocity matching-based or signal strength-based approaches. The proposed approach provides a solution for human machine interaction and object tracking, which has potential applications in many fields for example supermarkets, libraries, shopping malls, and exhibitions.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.672-675
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• 1996

This paper presents algorithm including Kalman filter for transfer alignment of velocity and quaternion matching method, when master inertial navigation system is a gimbled type and slave inertial navigation system is a strapdown type on a cruising ship which is naturally in motion of horizontal axis attitude. And relative attitudes are considered on a measurement equation for quaternion matching between master INS and slave INS.

• 대한원격탐사학회지
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• 제34권6_2호
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• pp.1165-1178
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• 2018

남극 빙붕의 붕괴 및 흐름속도의 변화는 빙상에 대한 지지력을 약화시킬 수 있어 해수면 상승에 잠재적인 원인이 될 수 있다. 이 연구에서는 2016년 4월 대규모 붕괴가 발생한 동남극 난센 빙붕에 대해 Landsat-7 Enhanced Thematic Mapper Plus(ETM+) 및 Landsat-8 Operational Land Imager(OLI) 영상을 이용하여 2000년부터 2017년까지의 연간 흐름속도 변화를 분석하였다. 흐름속도 산출을 위해 Landsat의 청색, 녹색, 적색, 근적외선, 전정색 및 첫 번째 주성분 영상 등 총 6개 영상에 orientation correlation 기법을 적용하고, 각각의 변위 산출 결과를 융합하는 다중분광 영상정합 기법을 사용하였다. Landsat 다중분광 영상정합은 난센 빙붕에서 전정색 단일 밴드 영상정합을 사용하는 경우보다 최소 14% 더 넓은 영역에 대해 신뢰할 수 있는 흐름속도를 산출하였고, Global Positioning System(GPS)로 관측된 흐름속도와 비교한 결과 ${\pm}2.1m\;a^{-1}$의 매우 작은 오차를 가지는 것으로 분석되었다. 난센 빙붕에서 2000-2017년 사이에 가장 급격한 흐름속도 증가를 나타낸 곳은 Drygalski 빙하설과 인접한 영역이었으며, 빙붕의 중앙 유선을 따라 측정된 흐름속도는 빙붕 전면(ice front)에 rift가 발달하기 전인 2010년까지 거의 변화가 없었다(${\sim}228m\;a^{-1}$). Rift가 발달하기 시작한 2011-2012년에 rift 상류에서 흐름속도의 가속화가 관측되었으나(${\sim}255m\;a^{-1}$), 이는 2010년에 비해 약 11% 빨라진 것에 불과하였다. 난센 빙붕의 rift가 완전히 발달한 2014년부터 rift 상류의 흐름속도는 다소 감소한 상태(${\sim}225m\;a^{-1}$)로 안정화 되었다. 이는 rift의 발달 및 빙붕 전면의 붕괴가 난센 빙붕의 흐름속도에 거의 영향을 주지 않았음을 의미한다.

• 한국광학회지
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• 제17권2호
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• pp.181-185
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• 2006

리튬나이오베이트 기판의 분극 반전 기술을 이용하여 300Hz 대역 광변조기를 제작하였고 60 GHz 광캐리어 발생기로 응용하였다. 주기적인 분극반전은 도파광과 RF사이의 QVM(Quasi-Velocity-Matching)을 유발하여 대역변조를 가능하게 하였다. 제작된 광변조기는 30.3 GHz에서 최대 변조효율을 보였으며, 3 dB 변조 대역폭은 약 5.1 GHz로 측정되었다. DSB-SC(Double Sideband Suppressed Carrier) 측정 실험을 통해 입사된 광 주파수로부터 30 GHz 간격으로 USB(Upper Sideband)와 LSB(Lower Sideband)를 발생시켰으며 입사광의 스펙트럼은 발생된 USB 혹은 LSB에 비해 28 dB정도 억제됨으로써, 30GHz 대역 광변조기가 60 GHz 광캐리어 발생기로 응용될 수 있음을 보였다.

• International Journal of Naval Architecture and Ocean Engineering
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• 제6권3호
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• pp.626-637
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• 2014

On ship, especially on large ship, the flexure deformation between Master (M)/Slave (S) Inertial Navigation System (INS) is a key factor which determines the accuracy of the integrated system of M/S INS. In engineering this flexure deformation will be increased with the added ship size. In the M/S INS integrated system, the attitude error between MINS and SINS cannot really reflect the misalignment angle change of SINS due to the flexure deformation. At the same time, the flexure deformation will bring the change of the lever arm size, which further induces the uncertainty of lever arm velocity, resulting in the velocity matching error. To solve this problem, a $H_{\infty}$ algorithm is proposed, in which the attitude and velocity matching error caused by deformation is considered as measurement noise with limited energy, and measurement noise will be restrained by the robustness of $H_{\infty}$ filter. Based on the classical "attitude plus velocity" matching method, the progress of M/S INS information fusion is simulated and compared by using three kinds of schemes, which are known and unknown flexure deformation with standard Kalman filter, and unknown flexure deformation with $H_{\infty}$ filter, respectively. Simulation results indicate that $H_{\infty}$ filter can effectively improve the accuracy of information fusion when flexure deformation is unknown but non-ignorable.

• 대한의용생체공학회:학술대회논문집
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• 대한의용생체공학회 1994년도 춘계학술대회
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• pp.111-114
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• 1994

Three component velocity measurements with a refractive index-matching technique was used to investigate the flow characteristics in the atrio-pulmomnary (AP) Fontan connection under the steady flow condition. A strong swirl was observed in the extra-cardiac conduit and the main pulmonary artery (MPA). Maximum velocity magnitude in the MPA was about 0.8 m/s near the posterior wall at 6 liter/min. Swirling motion of the flow as well as geometric abnormalities of the connection are important factors in energy loss across Fontan connections.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2002년도 학술대회지
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• pp.507-510
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• 2002

An algorithm of 3-D particle image velocimetry(3D-PIV) was developed for the measurement of 3-D velocity Held of complex flows. The measurement system consists of two or three CCD camera and one RGB image grabber. Flows size is $1500{\times}100{\times}180(mm)$, particle is Nylon12(1mm) and illuminator is Hollogen type lamp(100w). The stereo photogrammetry is adopted for the three dimensional geometrical mesurement of tracer particle. For the stereo-pair matching, the camera parameters should be decide in advance by a camera calibration. Camera parameter calculation equation is collinearity equation. In order to calculate the particle 3-D position based on the stereo photograrnrnetry, the eleven parameters of each camera should be obtained by the calibration of the camera. Epipolar line is used for stereo pair matching. The 3-D position of particle is calculated from the three camera parameters, centers of projection of the three cameras, and photographic coordinates of a particle, which is based on the collinear condition. To find velocity vector used 3-D position data of the first frame and the second frame. To extract error vector applied continuity equation. This study developed of various 3D-PIV animation technique.