• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.264-267
• /
• 1991

In this paper, a new application method of the Kalman filter to desigin a gyro is proposed. The role of a gyro is the estimation of an input rate with minimal error covariance. The size of the error covariance depends on gyro's parameters, which makes it possible to use the parameters of gyro to minimze the estimation error covariance. Numerical analysis shows that the error covariance becomes smaller as the spin axis momentum becomes larger and the damping coefficient smaller, but production cost must be considered. Through numerical analysis the parameter set for an acceptable - performance gyro with small cost can be selected.

• ICROS
• /
• v.3 no.3
• /
• pp.29-35
• /
• 1997

본 논문에서는 인공위성의 자세를 측정하는 장치로서 태양센서, 지구수평센서, 자이로스코프, 별센서, 자장계 등의 자세감지장치와 궤도조정 및 자세제어를 하기 위한 모멘텀 휠, 반작용 휠, 가스 제트 추력기 등 각종 구동장치의 기술적 특성에 대해서 검토하고자 한다. 본 논문의 주목적은 최근 국내에서 활발히 추진되고 있는 인공위성 개발 사업 관련 위성체와 관련된 일반의 관심을 증대시키고 관련 실무 지식을 소개하고자 하는데 있다.

• KIPS Transactions on Computer and Communication Systems
• /
• v.5 no.10
• /
• pp.331-338
• /
• 2016

In this paper, we propose a system for transmitting army hand signals using motion sensors. The proposed system consists of a squad commander device, squad member devices, and a server. The squad command device and squad member device have been implemented using a micro arduino, an accelerometer sensor, and a gyroscope sensor, and the server has been implemented using a Rasberry Pi 3. Because the devices are made in the form of band, they are lightweight and portable. The proposed system can transmit the hand signals through vibration in conditions of poor visibility. We have designed and implemented the squad member device to be able to recognize four military hand signals. Through experiments, the proposed system have shown 88.82% of correct recognition. In conclusion, we expect to increase effectiveness of army operations and survival rate of soldiers.

• Journal of the Korea Society of Computer and Information
• /
• v.26 no.7
• /
• pp.45-55
• /
• 2021

Information obtained through various sensors embedded in a smartphone can be used to identify and analyze user's movements and situations. In this paper, we propose two rule-based motion detection systems that can detect three alphabet motions, 'I', 'S', and 'Z' by analyzing data obtained by the acceleration and gyroscope sensors in a smartphone. First of all, the characteristics of acceleration and angular velocity for each motion are analyzed. Based on the analysis, two rule-based systems are proposed and implemented as an android application and it is used to verify the detection performance for each motion. Two rule-based systems show high recognition rate over 90% for each motion and the rule-based system using ensemble shows better performance than another one.

• The Journal of the Acoustical Society of Korea
• /
• v.39 no.4
• /
• pp.286-291
• /
• 2020

In this paper, we propose a system that recommends music through tempo-oriented music classification and sensor-based human activity recognition. The proposed method indexes music files using tempo-oriented music classification and recommends suitable music according to the recognized user's activity. For accurate music classification, a dynamic classification based on a modulation spectrum and a sequence classification based on a Mel-spectrogram are used in combination. In addition, simple accelerometer and gyroscope sensor data of the smartphone are applied to deep spiking neural networks to improve activity recognition performance. Finally, music recommendation is performed through a mapping table considering the relationship between the recognized activity and the indexed music file. The experimental results show that the proposed system is suitable for use in any practical mobile device with a music player.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.39 no.2
• /
• pp.179-185
• /
• 2015

Although an accelerometer is a sensor that measures acceleration, it cannot be used by itself to measure the acceleration when the orientation of the sensor changes. This paper introduces a Kalman filter for the estimation of a sensor acceleration based on a six-axis inertial sensor (i.e., a three-axis accelerometer and three-axis gyroscope). The novelty of the proposed Kalman filter lies in the fact that its state vector includes not only the tilt angle variable but also the sensor acceleration. Thus, the filter can explicitly estimate the latter with a high accuracy. The accuracy of acceleration estimates were validated experimentally under three different dynamic conditions, using an optical motion capture system. It could be concluded that the performance of the proposed Kalman filter was comparable to that of the state-of-the-art estimation algorithm employed by the Xsens MTw. The proposed algorithm may be more suitable than inertial/magnetic sensor-based algorithms for various applications adopting six-axis inertial sensors.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.241-244
• /
• 1997

A dead reckoning navigation system is developed for autonomous mobile robot localization. The navigation system was implemented by novel sensor fusion using a Kalman filter. A differential encoder and the gyroscope error models are developed for the filter. An indirect Kalman filter scheme is adopted to reduce the computational burden and to enhance the navigation system reliability. The filter mutually compensates the encoder errors and the gyroscope errors. The experimental results show that the proposed mobile . robot navigation algorithm provides the reliable position and heading angle of the mobile robot without any help of the external positioning systems.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.8
• /
• pp.810-815
• /
• 2010

This paper proposes a vision/DR integrated navigation system using distance between wheels of the vehicle and a gyroscope. In order to show the validity of the proposed vision/DR integrated navigation system, experiments were performed for a trajectory of a mobile robot. Experimental results show that the proposed vision/DR integrated navigation system gives better navigation performance than a vision/DR integrated navigation system using only distance between wheels of the vehicle.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2012.11a
• /
• pp.393-395
• /
• 2012

다양한 스마트 기기의 출현과 함께 정보보호를 위한 보다 강건한 사용자 인증 시스템에 대한 요구도 증대되고 있다. 하지만 스마트 기기별로 호환성을 유지하면서도 사용자 인증을 수행하기 위해서는 각 기기에서 공통적으로 제공되는 센서의 활용이 필요하며, 영상 기반 다중 생체 인식에 기반을 둔 사용자 인증 시스템은 이에 대한 대안이 될 수 있다. 본 논문에서는 전통적으로 사용자 인증에 사용되고 있는 얼굴 인식과 더불어 영상 기반의 제스처 인식을 함께 사용함으로서 호환성을 유지하면서도 강건한 사용자 인증 시스템을 제안하였다. 그리고 제스처 인식 데이터베이스의 하나인 ChaLearn 데이터에 적용하여 인식 성능을 평가하였다. 그 결과 기존의 스마트 기기에서 가속도계, 자이로스코프 또는 터치 패널에 의한 제스처 인식이 아니라 영상 기반의 제스처 인식을 사용하여 호환성의 확보뿐만 아니라 사용자 인증 성능 또한 개선할 수 있음을 확인하였다.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.9 no.6
• /
• pp.1356-1363
• /
• 2005

In the gyrocompass system, the use of the fiber optic gyroscope(FOG) makes this traditional system considerably attractive because it has strong points in terms of weight, power, warming-up time, and cost. In this paper, a novel digital north-finding method based upon an FOG, which can be applied to the gyrocompass system, is proposed. The analytical model for the earth signal of the FOG is described, and the earth signals passed through lock-in amplifiers are modeled. Additionally, a north-finding algorithm using two lock-in amplifier outputs is developed, and the proposed method is organized by the developed algorithm. Simulation results are included to verify the performance of the proposed method.