• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1997년도 추계학술대회 논문집
• /
• pp.375-379
• /
• 1997

Thermal drift of the machine tool spindle due to temperature increase dominates the major source of the machine tool error. To compensate the thermal errors, software based error correction methods could be implemented. In th~s case, we need model to map the relationship between temperature and thermal distortion. Traditionally, two or three different methods have been trled: step increase of spindle speed, constant, random. The latter two methods are described in the document of ISOlDIS230-3. In this research, three different methods were verified through the experiments from the viewpoint of compensation of thermal distortion. Constant spindle speed turned out good enough for monitoring the behavior of the thermal drift and modeling the relationship between temperature and thermal distortion.

• 제어로봇시스템학회논문지
• /
• 제22권11호
• /
• pp.937-943
• /
• 2016

Vertical velocity is critical in many areas, such as the control of unmanned aerial vehicles, fall detection, and virtual reality. Conventionally, the integration of GPS (Global Positioning System) with an IMU (Inertial Measurement Unit) was popular for the estimation of vertical components. However, GPS cannot work well indoors and, more importantly, has low accuracy in the vertical direction. In order to overcome these issues, IMU-barometer integration has been suggested instead of IMU-GPS integration. This paper proposes a new complementary filter for the estimation of vertical velocity based on IMU-barometer integration. The proposed complementary filter is designed to minimize drift error in the estimated velocity by adding PID control in addition to a zero velocity update technique.

• 한국측량학회:학술대회논문집
• /
• 한국측량학회 2004년도 춘계학술발표회논문집
• /
• pp.59-64
• /
• 2004

In this paper, the error compensation method of the low-cost IMU is proposed. In general, the position and attitude error calculated by accelerometers and gyros grows with time. Therefore the additional information is required to compensate the drift. The attitude angles can be bound accelerometer mixing algorithm and the heading angle can be aided by single antenna GPS velocity. The Kalman filter is used for error compensation. The result is verified by comparing with the attitude calculated by Attitude Heading Reference System with Micro Electro Mechanical System for a basis

• 전자공학회논문지SC
• /
• 제48권1호
• /
• pp.1-8
• /
• 2011

MR 센서에 의해 지구자기장의 세기를 측정하여 방위각을 결정하는 전자 Compass의 정밀도는 MR센서 및 OP-Amp.의 온도 Drift, DC Offset등 소자에 의한 오차, 측정주변 자성체에 의한 자기장의 왜곡, 및 Compass Tilt에 의한 오차 등의 영향을 받는다. 본 연구에서는 Set/Reset Pulse 방법에 의해 MR 센서 및 OP-Amp의 온도 Drift 및 DC Offset에 의한 오차를 해결하였고, 주변 자성체에 의한 자기장의 왜곡에 의한 오차를 Hard-Iron Calibration 루틴 수행에 의해 보상하였으며, Compass Tilt에 의한 오차를 Euler Rotational Equation에 의해 보상할 수 있는 3축 MR 센서 및 3축 Accelerometer를 기반으로 하는 전자 Compass 를 설계하였다. 특히 이와 샅이 설계한 전자 Compass를 가지고 3측 MR 센서의 서로 다른 Sensitivity와 OP-Amp.의 서로 다른 Gain등을 규준화하기 위한 Sensitivity Calibration 루틴 수행 시 Tilt의 발생으로 야기되는 오차를 정량적으로 분석하였으며, 이를 바탕으로 $1^{\circ}$정도(精度) Compass를 설계할 수 있었다.

• 한국정보통신학회논문지
• /
• 제13권10호
• /
• pp.2218-2226
• /
• 2009

무선메쉬네트워크환경을 지원하는 TDMA기반 MAC프로토콜은 기존의 패킷기반인 802.11 DCF/EDCA 프로토콜보다 많은 장점을 가지고 있다. 하지만, TDMA기반의 MAC프로토콜은 MP(Mobile Points)들의 발진기(Oscillator) 편차와 분산 환경의 특성으로 인해서 새로운 동기화 기법이 필요하다. 본 논문에서는 TDMA기반의 MAC프로토콜에서 동기화 방법을 제안한다. MP들을 동기화 상태에 따라 4가지로 구분해서 MP가 동기화 상태일때 비콘을 이용해서 TDMA프레임의 시작시간을 Time Skew의 변동 범위내에서 결정하도록 한다. Clock Drift에 의해 발생하는 Time Skew는 보정계수를 통해서 자동으로 보정할 수 있는 알고리즘을 제안한다. 이 제안된 내용을 기반으로 General Time Error값과 Clock Drift Rate가 실험을 통해 안정적이며 최소의 값이 산출되는 것을 확인하였다.

• 산업기술연구
• /
• 제22권B호
• /
• pp.133-139
• /
• 2002

In precision instrumentation system, an A/D conversion of signal conditioning has been always suffered from some problems ; offset and drift voltage with environmental situation. This paper suggests a method of reducing the offset voltage and the drift error from the A/D conversion hardware using analog signal switching technique with specific operational amplifier circuits. Also, we have designed a hardware active filter and a software digital filter with Auto Zero Tracking algorithm for better dignal process of the our proposed weighing system. Software technique was performed to obtain the stable data from A/D converter. As a result of our experimental works, the proposed system is expected to be used in the industrial field where a high precision measurement is required.

• International Journal of Aeronautical and Space Sciences
• /
• 제14권4호
• /
• pp.379-386
• /
• 2013

The hemispherical resonator gyroscope is a type of vibratory gyroscope, which can measure angle or angular rate, based on its operating mode. This paper deals with the case when the hemispherical resonator gyroscope is operated in angle measurement mode. In angle measurement mode, the resonator pattern angle precesses, with respect to the external rotation input, by the principle of the Coriolis effect, so that the external rotation can be estimated, by measuring the amount of precession angle. However, this pattern angle drifts, due to the manufacturing error of the resonator. Since the drift effect causes degradation of the angle estimation performance of the resonator, the corresponding drift compensation control should be performed, to enhance the estimation performance. In this paper, a mathematical model of the hemispherical resonator gyro is first introduced. By using the mathematical model, a nonlinear observer for imperfection parameter estimation, and the corresponding compensation controller are designed to operate hemispherical resonator gyros, as angle measurement sensors.

• Journal of Hydrospace Technology
• /
• 제1권1호
• /
• pp.66-74
• /
• 1995

Unknown parameters can be determined by system identification techniques. Extended Kalman filter method was introduced as a real time estimator of hydrodynamic derivatives but it has the problem named the coefficient drift. In this study, 2nd order filter estimates hydrodynamic derivatives in Abkowitz model In order to reduce the coefficient drift, parallel processing is used. The measured state and ship trajectory are compared with the estimated values. Parallel processing of 2nd order filter gives very similar results to parallel processing of extended Kalman filter. Parallel processing cannot not remove the coefficient drift perfectly, but it reduces the estimation error.

• 방송공학회논문지
• /
• 제6권2호
• /
• pp.121-130
• /
• 2001

본 논문에서는 적응적 영상 전송을 위한 효율적인 DCT 영역 비디오 트랜스코딩 알고리듬을 제안한다. 비디오 트랜스코딩은 압 축된 비트 스트림을 새로운 전송 대역폭의 제한 조건에 맞춰서 전송의 유연성을 획득하기 위한 기술이다. 이 과정에서 부호화(encoder)와 복호화(decoder)를 거치면서 참조 영상의 타이로 인한 드리프트(drift) 오류가 발생하게 된다. 이러한 은제점을 피하 기 위해 비디오 트랜스코딩 방식으로 CPDT(Cascade Pixel-Domain Transcoder)구조를 사용하지만, 이 구조는 많은 계산량을 필요로 하고 구조가 복잡하다는 단점을 가진다. 따라서 본 논문에서는 효율적 비디오 트랜스코딩을 위해 DCT 영역에서 트랜스코딩을 행하는 CBDT(Cascade DCT-Domain Transcoder) 구조를 제안한다. CBDT 구조는 DCT 영역에서 움직임 보상과 부 표본화를 행한다.

• Journal of Positioning, Navigation, and Timing
• /
• 제6권4호
• /
• pp.149-157
• /
• 2017

In this study, a system that precisely determines the heave of ship hull was designed using time-differenced GNSS carrier phase measurement, and the performance was examined. First, a technique that calculates precise position relative to the original position based on TDCP measurement for point positioning using only one receiver was implemented. Second, to eliminate the long-cycle drift error occurring due to the measurement error that has not been completely removed by time-differencing, an easily implementable high-pass filter was designed, and the optimum coefficient was determined through an experiment. In a static experiment based on the precise heave measurement system implemented using low-cost commercial GNSS receiver and PC, the heave could be measured with a precision of 2 cm standard deviation. In addition, in a dynamic experiment where it moved up and down with an amplitude of 48 cm and a cycle of 20 seconds, precise heave without drift error could be determined. The system proposed in this study can be easily used for many applications, such as the altitude correction of fish detection radar.