• Journal of Advanced Marine Engineering and Technology
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• v.24 no.1
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• pp.119-126
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• 2000

In constructing the positioning system based on a conventional dead-reckoning for a wheeled vehicle with pneumatic tires, the position estimation error is inevitable as changes of the radius of the wheels depend on live load and variable enviroment. Therefore, this paper proposes the positioning system which can estimate the error source i.e. the vehicle parameter errors, such as the right and left wheel radius error, using gyroscope and ultrasonic sensor and correct the parameter to reduce the dead-reckoned position estimation error. The extended Kalman filter was used as a method for the multisensor data fusion. The simulation to verify the effectiveness of the proposed positioning system is performed.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.664-667
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• 1996

This paper presents the error parameter estimation technique for IMU(Inertial Measurement Unit) which is core sensor of INS(Inertial Navigation System) and verifies it via laboratory test. Firstly the error characteristic of gyroscope and accelerometer which is contained in IMU is examined and the error modelling is executed. The error of IMU can be divided into deterministic and random part, and the deterministic error can be divided into static and dynamic part. This paper consider the random part as constant. Secondly the error parameter estimation technique and following procedure for laboratory test is explained. Thirdly according to the test procedure the IMU test for static error is executed using 2-axis rate table and estimation result is presented with discussion about its validity.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.141.5-141
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• 2001

An attitude GPS receiver with 3 antennas obtains 3-dimensional attitude using GPS carrier phase measurement INS obtains the 3 dimensional navigation solution for IMU consisting of accelerometers and gyro. Ground-alignment process for the low -cost INS cannot be performed well due to the large sensor noise. Using the standard GPS receiver, however, continuous in-flight alignment for the INS becomes possible, and consequently, the errors in IMU sensors and navigation solution can be compensated. Especially with attitude measurement from the attitude GPS receiver, the compensation of errors in gyroscope and attitude would be done respite of the vehicle´s dynamics and their error covariance would be reduced. This paper presents ...

• International Journal of Aeronautical and Space Sciences
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• v.8 no.1
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• pp.105-114
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• 2007

This article presents the details of a designed control moment gyroscope (CMG) with a constant speed momentum wheel and one-axis-gimbal, and its experimental results performed at Korea Aerospace Research Institute. The CMG which is able to produce a torque of lOO mNm per each, is mounted in a pyramid configuration with four SGCMGs. Each CMG test and a single axis maneuver test with four-CMG cluster configuration are performed to confirm their performance on a ground-test facilities consisted of three major parts: a vibration isolation system, a dynamic force plate (Kistler sensor), and a DSP board. These facilities provide the accurate data of three axial and torques from the control moment gyro. Details of the CMG experimental results are presented with discussion of the experimental errors. The experimental data are compared with theoretical results and both results are used to verify their performance specifications.

• Proceedings of the KIEE Conference
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• 1997.11a
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• pp.92-94
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• 1997

A stabilizing system of EOTS is constructed. This system has two major parts. One of them is for detecting the moving motion of a vehicle with electronic gyroscope. The other is for driving of two axes of the platform where the sensor is attached. The controller used in this paper is DSP(TMS320c31) and two BLDC DD motor are used.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.28-28
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• 2000

Low-cost solid-state inertial sensors of three rate Gyroscopes and a triaxial Accelerometer are evaluated in static and dynamic environments. As a interim result, error models of each inertial sensors are generated. Model parameters with respect to temperature are acquired in static environment. These error models are included in an Extended Kalman Filter(EKF) to compensate bias error due to temperature variation. Experimental results in dynamic environment are included to show the validity of the each error model and the performance improvement of a compensated low cost inertial sensors for a navigational application

• Journal of Korea Society of Digital Industry and Information Management
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• v.11 no.4
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• pp.143-154
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• 2015

This study aims to evaluate smartphone gaming controllers. Diffusion of smartphone makes its users to play smartphone games in ease and comfort and its built-in sensors deliver new gaming experience to the users. Based on the concept how the controller system is important, the current research also implies the importance of customizing service which gives users a selection to deploy a controller. To explore the interaction effect of controllers and customizing on interactivity, flow, usability, attitude, and intention, the research constructs 3(gyroscope, wheel, and button controllers) by 2(default and customizing setting) experimental design and forty college students played Gameloft's Asphalt 8: Airborne in a within subject design. The results showed that interaction effect and customizing main effect were not found, but controller main effect was statistically significant. Button controller is superior to those other two in more detail. It implies that it is still not useful to play new types of gaming controller, and a customizing service. It suggests that smartphone games should more focus on improving optimal user experience with built-in sensor controllers.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.221-225
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• 1998

This paper is to present a method for recognizing an image of a tracking object by processing the image from a camera, whose attitude is controlled in inertial space with inertial co-ordinate system. In order to recognize an object, a pseudo-random M-array is attached on the object and it is observed by the camera which is controlled on inertial coordinate basis by inertial stabilization unit. When the attitude of the camera is changed, the observed image of M-array is transformed by use of affine transformation to the image in inertial coordinate system. Taking the cross-correlation function between the affine-transformed image and the original image, we can recognize the object. As parameters of the attitude of the camera, we used the azimuth angle of camera, which is de-fected by gyroscope of an inertial sensor, and elevation an91e of camera which is calculated from the gravitational acceleration detected by servo accelerometer.

• Proceedings of the KIEE Conference
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• 2004.11a
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• pp.275-277
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• 2004

This paper presents design and fabrication of micromachined accelerometer using $100{\mu}m$ thick SiOG substrate. The proposed accelerometer has a resonant frequency, 6kHz. To reduce the off-axis sensitivity of the accelerometer, the mode characteristic of the accelerometer is investigated using ANSYs modal analysis. Because the accelerometer is fabricated using an SiOG substrate, it is expected to be integrated as one-chip IMU sensor with a gyroscope using an SiOG substrate.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.6
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• pp.545-550
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• 2009

Generally, the smoothing pre-filter of sensor's raw measurement(accelerometer and gyroscope) is used for INS's fast alignment. When the pre-filter is abruptly removed at Navigation-mode entry in vibration environment, INS's initial attitude error can be largely generated. So that we propose initial attitude error reducing methods(monotone increasing of cutoff-frequency, real-time attitude estimation), these are proved by simulation.