• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.5
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• pp.373-381
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• 2021

This paper details the result of flight experiment that examines performance of roll angle estimation algorithm of slowly rolling munition taking time delay of measurement into account when measurement comes in delayed fashion. As the measurement is passed through low pass filter for numerical stabilization and de-noising purpose which induces time delay, we design augmented state Kalman filter that incorporates distribution models of stochastic delay over time. Flight experiment was conducted to verify the algorithm at around 250m high AGL(Above Ground Level) conveying velocity of 28m/s from fixed-wing mother plane to the munition. Munition was made spun with respect to its roll axis using internal reaction wheel afterward. Numerical comparison of proposing method's roll estimation performance with that of commercial aerospace graded GPS/INS shows that proposed filter design can effectively compensate time delay of measurement.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.2
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• pp.493-496
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• 2006

본 논문에서는 원자 시계를 이용한 위성 시계 감시 기법을 제안하고 실시간으로 구현하였다. GPS 수신기 측정치에는 궤도 오차, 이온층 지연, 대류층 지연, 다중경로, 수신기 시계 오차들이 포함되어 있어 감시국에서는 위성 시계 오차가 이러한 오차보다 커지기 전에는 검출하기가 어렵다. 따라서 천천히 변화하는 위성시계 오차를 검출하는데 긴 시간이 소요된다. 이러한 문제를 해결하기 위하여 본 논문에서는 원자시계를 이용하여 수신기 시계오차를 최소화하고, 이중 주파수 측정치를 이용하여 전리층 지연을 제거하는 등 위성 시계 오차 외의 나머지 오차 성분들을 효과적으로 제거하고 남은 오차의 특성으로부터 위성시계의 이상을 감시하는 방법을 제안하였다. 제안한 기법은 윈도우 기반 GUI형태의 소프트웨어로 구현하였고, 원자시계로부터 시각을 제공받는 GPS 수신기로 실시간으로 데이터를 수신하여 그 타당성을 확인하였다. 수신기에 원자시계를 이용함으로써 이상판별을 위한 임계치를 낮출 수 있어 천천히 변화하는 이상을 빨리 검출할 수 있어 이를 일반 사용자가 방송함으로써 사용자의 안전성을 향상시킬 수 있을 것이다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.11
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• pp.1079-1086
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• 2008

During transfer alignment navigation information transferred MINS(master inertial navigation system) to SINS(slave inertial navigation system) has a changed time delay. The changed time delay degrades the performance of transfer alignment. This paper proposes an adaptive filter that estimates covariance of a time delay in real-time using residual of measurements. The performance of the adaptive filter is compared with that of the EKF(extended Kalman filter) in case of transfer alignment for vertical launcher in the ship. The results show that proposed method is more effective than EKF in estimating attitude errors.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.1
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• pp.1-8
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• 2004

The INS(Inertial Navigation System) provides high rate position, velocity and attitude data with good short-term stability while the GPS(Global Position System) provides position and velocity data with long-term stability. By integrating the INS with GPS, a navigation system can be achieved to Provide highly accurate navigation Performance. For the best performance, time synchronization of GPS and INS data is very important in GPS/INS integrated system But, it is impossible to synchronize them exactly due to the communication and computation time-delay. In this paper, to reduce the error caused by the measurement time-delay in GPS/INS integrated systems, error compensation methods using separate bias Kalman filter are suggested for both the loosely-coupled and the tightly-coupled GPS/INS integration systems. Linearized error models for the position and velocity matching GPS/INS integrated systems are Int derived by linearizing with respect to its time-delay and augmenting the delay-state into the conventional state equations for each case. And then separate bias Kalman Inter is introduced to estimate the time-delay during only initial navigation stage. The simulation results show that the present method is effective enough resulting in considerably less position error.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.4
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• pp.684-693
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• 2011

Measurement time delay in the transfer alignment is very important. It has been well known that the time delay degrades the alignment performance and makes some navigation errors on the transfer alignment of slave INS(SINS). Therefore there are many schemes to eliminate that time delay but the compensation technique through the estimation by Kalman filter through modeling the time delay as a random constant is generally used. In the case of change over measurement time delay or the large measurement time delay, estimation performance in the existing compensation technique is degraded because model of time delay is not correct any more. In this paper, we propose the method to keep the time delay almost constant even though in the abnormal communication state and very small through feedback compensation using double buffer. Double buffer consists of two moving window to temporarily store measurements from master INS and slave INS in real time.

• Journal of Advanced Navigation Technology
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• v.14 no.5
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• pp.625-631
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• 2010

In this paper, robustness performance of SNUR message is compared with those of existing ones, RTCM(Radio Technical Commission for Maritime Services) v2 MT(Message Type) 18/19 and MT 20/21 under a poor broadcast condition such as temporary data loss or disconnection We defined the temp oral data loss as 2 second delay and reconnection after disconnection as 7 second latency, and then evaluated its robustness for each latency case by double differentiating the observables. Our result shows that SNUR protocol method can reduce the latency error of the existing RTCM messages by 30~60%. Moreover, a rover using SNUR message, whose latency error is bounded within 1/4 L1 wave length, can figure out its own fixed position continuously in spite of 7 second disconnection, while the other using RTCM message, whose error is larger than half wave length, cannot keep its previous fixed solution.

• Journal of the Korean Institute of Telematics and Electronics
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• v.10 no.3
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• pp.53-60
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• 1973

Calculations of the temperature coefficients of the elastic surface wave velocity and delay time were performed for the propagation along the X axis of rotated Y cut plane of the LiNbO3 and LiTaO3. Measurements of the temperature dependence of delay time of the elastic surface wave were also performed for the propagation along the X axis of a 130" rotated Y cut plane of the LiNb03 at the temperature range from liquid He to room temperature. Experimental value 70$\times$10-6/$^{\circ}C$ of the temperature coefficient of the delay time of the elastic surface wave agrees well with the calculated value 72.7$\times$10-a/$^{\circ}C$. The temperature coefficient of delay time of elastic surface wave propagating along the X axis of a 130$^{\circ}$ rotated Y cut plane o( the LiNbO3 is approximately 16$\times$10-6/$^{\circ}C$ at the near temperature of liquid He.d He.

• Fire Science and Engineering
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• v.31 no.5
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• pp.1-6
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• 2017

The fire and explosion properties of combustible materials are necessary for the safe handling, storage, transportation and disposal. Typical combustion characteristics for process safety include auto ignition temperature(AIT). The AIT is an important index for the safe handling of combustible liquids. The AIT is the lowest temperature at which the material will spontaneously ignite. In this study, the AITs and ignition delay times of n-pentanol and p-xylene mixture were measured by using ASTM E659 apparatus. The AITs of n-pentanol and p-xylene which constituted binary system were $285^{\circ}C$ and $557^{\circ}C$, respectively. The experimental AITs and ignition delay times of n-pentanol and p-xylene mixture were a good agreement with the calculated AITs and ignition delay times by the proposed equations with a few A.A.D. (average absolute deviation). Therefore, it is possible to estimate the AITs and ignition delay times in other compositions of n-pentanol and p-xylene mixture by using the predictive equations which presented in this study.

• The Korean Journal of Nuclear Medicine
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• v.39 no.4
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• pp.257-262
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• 2005

Purpose: Gastric emptying scan (GES) is usually acquired up to 2 hours. Our study investigated whether a fraction of meal-retention in the stomach at 120 minutes (FR120) was predicted from the data measured for 90 minutes by using non-linear curve fitting. We aimed at saving the delayed imaging by utilizing mathematical models. Materials and Methods: Ninety-six patients underwent GES immediately after taking a boiled egg with 74 MBq (2 mCi) Tc-99m DTPA. The patients were divided into Group I ($T_{1/2}\;{\leq}90\;min$) and Group II ($90\;min). Group I (n=51) had 21 men and 30 women, and Group II (n=45) 15 men and 30 women. There was no significant difference in age and sex between the two groups. Simple exponential, power exponential, and modified power exponential curves were acquired from the measured fraction of meal-retention at each time (0, 15, 30, 45, 60, 75, and 90 min) by non-linear curve fitting ($MATLAB^{\circledR}$ 5.3) and another simple exponential fitting was performed on the fractions at late times (60, 75, and 90 min). A predicted FR120 was calculated from the acquired functional formulas. A correlation coefficient between the measured FR120 and the predicted FR120 was computed ($MedCalc^{\circledR}$ 6.0). Results: Correlation coefficients(r) between the measured FR120 and the predicted FR120 of each mathematical functions were as follows: simple exponential function (Group I: 0.8558, Group II: 0.5982, p<0.0001), power exponential function (Group I: 0.8755, Group II: 0.6008, p<0.0001), modified power exponential function (Group I: 0.8892, Group II: 0.5882, p<0.0001), and simple exponential function at the late times(Group I: 0.9085, Group II: 0.6832, p<0.0001). In all the fitting models, the predicted FR120 were significantly correlated with the measured FR120 in Group I but not in Group II. There was no statistically significant difference in correlation among the 4 mathematical models. Conclusion: In the cases with $T_{1/2}\;{\leq}90\;min$, the predicted FR120 is significantly correlated with the measured FR120. Therefore, FR120 can be predicted from the data measured for 90 minutes by using non-linear curve fitting, saving the delayed imaging after 90 minutes when $T_{1/2}\;{\leq}90\;min$ is ascertained.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.11
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• pp.873-880
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• 2020

In this paper, we propose a guidance filter to estimate line of sight rate with strapdown seeker measurements and INS(Inertial Navigation System) information. The measurements of proposed guidance filter consisted of the LOS(Line of Sight) and relative position that can be calculated with the seeker's measurements, INS information and known target position, also the filter is based on an asynchronous filter to use outputs of the two sensors that are out of synchronous and period. Through the proposed filter, we can reduce the effect on parasitic loop that can be caused by using large time delay seeker and improve the estimation performance.