• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.9
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• pp.681-689
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• 2020

This paper presents methods and results of both flight test examining roll angle estimation performance of slowly rolling munition forced to spin in the air, and fabricating a replica of guided munition. Guided munition was deployed from multi rotor type UAV mother ship whose altitude and velocity was conveyed to it as initial state. Flight test scenario is composed of a sequence of munition drop(deployment), munition spin, roll angle estimation and stabilization. Munition was deployed from mother ship at around 200m high with horizontal velocity of 15m/s, and was made spun using internal reaction wheel. Performance analysis on roll angle estimation is provided in comparison with commercial aerospace graded GPS/INS. Moreover, several mechanisms that rotates munition using reaction wheel, and actual product that realizes one of them are introduced.

• Journal of Ocean Engineering and Technology
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• v.29 no.6
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• pp.488-498
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• 2015

This paper presents the dynamic model of an AUV called HW200 for underwater surveillance. The mathematical model of HW200 is briefly introduced, considering its shape. The maneuvering coefficients were initially estimated using empirical formulas and a database of vehicles with similar shapes. A motion simulator, based on Simulink of Mathworks, was developed to evaluate the mathematical model of the vehicle and to tune the maneuvering coefficients. The parameters were finely tuned by comparing the experimental results and simulated responses generated with the simulator by applying the same control inputs as the experiment. The velocity of HW200 in the tuning process was fixed at a constant forward speed of 1.83 m/s. Simulations with variable speed commands were conducted, and the results showed good consistency in the motion response, attitude, and velocity of the vehicle, which were similar to those of the experiment even under the speed variation. This paper also discusses the feasibility of its application to a model-based integrated navigation system (INS) using the auxiliary information on the velocities generated by the model.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.3
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• pp.249-255
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• 2002

Since the stationary alignment process of the SDINS is not completely observable, some furls of the aided alignment have been applied. The purpose of this paper is to propose a new initial alignment algorithm, which utilizes the attitude output from the AGPS(Attitude Determination GPS) receiver and to demonstrate the feasibility of the proposed algorithm with several experimental results. A Kalman filter is designed for utilizing the attitude output as well as the zero velocity information. Also analyzed is the observability of the SDINS error model. To show the feasibility of the proposed scheme, we implement an alignment system where HG1700AE IMU (Inertial Measurement Unit) from Honeywell and an AGPS receiver designed at Chungnam National University are used. Test trials are done to evaluate the performance of the proposed alignment scheme. The proposed algorithm provides as good initial alignment performance as a high accurate navigation system, MAPS(Modular Azimuth Positioning System) INS.

• Journal of Biomedical Engineering Research
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• v.13 no.2
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• pp.87-96
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• 1992

In thIns paper, a numerical simulation of steady laminar and turbulent flow in a two dimensional model for the total artificial heart is'presented. A trlleaflet polyurethane valve was simulated at the outflow orifice while the Inflow orifice had a trileaflet or a flap valve. The finite analytic numerical method was employed to obtain solutions to the governing equations in the Cartesian coordinates. The closure for turbulence model was achieved by employing the k-$\varepsilon$-E model. The SIMPLER algo rithm was used to solve the problem in primitive variables. The numerical solutions of the slulated model show that regions of relative stasis and trapped vortices were smaller within the ventricular chamber with the flap valve at the Inflow orifice than that with the trileaflet valve. The predicted Reynolds stresses distal to the inflow valve within the ventricular chamber were also found to be smaller wlth the flap valve than with the trlleaflet valve. These resu1ts also suggest a correlation be- tween high turbulent stresses and the presence of thrombus In the vicinity of the valves in the total artificial hearts. The computed velocity vectors and trubulent stresses were comparable with previ ously reported in vitro measurements in artificial heart chambers. Analysis of the numerical solo talons suggests that geometries similar to the flap valve(or a tilting disc valve) results in a better flow dynamics within the total artificial heart chamber compared to a trileaflet valve.

• International Journal of Aeronautical and Space Sciences
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• v.14 no.4
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• pp.369-378
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• 2013

This paper presents a vision/LiDAR integrated navigation system that provides accurate relative navigation performance on a general ground surface, in GNSS-denied environments. The considered ground surface during flight is approximated as a piecewise continuous model, with flat and slope surface profiles. In its implementation, the presented system consists of a strapdown IMU, and an aided sensor block, consisting of a vision sensor and a LiDAR on a stabilized gimbal platform. Thus, two-dimensional optical flow vectors from the vision sensor, and range information from LiDAR to ground are used to overcome the performance limit of the tactical grade inertial navigation solution without GNSS signal. In filter realization, the INS error model is employed, with measurement vectors containing two-dimensional velocity errors, and one differenced altitude in the navigation frame. In computing the altitude difference, the ground slope angle is estimated in a novel way, through two bisectional LiDAR signals, with a practical assumption representing a general ground profile. Finally, the overall integrated system is implemented, based on the extended Kalman filter framework, and the performance is demonstrated through a simulation study, with an aircraft flight trajectory scenario.

• Journal of Positioning, Navigation, and Timing
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• v.12 no.1
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• pp.51-58
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• 2023

Geofencing supports unmanned aerial vehicle (UAV) operation by defining stay-in and stay-out regions. National Aeronautics and Space Administration (NASA) has developed a prototype of the geofencing function, SAFEGUARD, which prevents stayout region violation by utilizing position estimates. Thus, SAFEGUARD depends on navigation system performance, and the safety risk associated with the navigation system uncertainty should be considered. This study presents a methodology to compute the safety risk assessment-based along-track position error bound under nominal and Global Navigation Satellite Systems (GNSS) failure conditions. A Kalman filter system using pseudorange measurements as well as pseudorange rate measurements is considered for determining the position uncertainty induced by velocity uncertainty. The worst case pseudorange and pseudorange rate fault-based position error bound under the GNSS failure condition are derived by applying a Receiver Autonomous Integrity Monitor (RAIM). Position error bound simulations are also conducted for different GNSS fault hypotheses and constellation conditions with a GNSS/INS integrated navigation system. The results show that the proposed along-track position error bounds depend on satellite geometries caused by UAV attitude change and are reduced to about 40% of those of the single constellation case when using the dual constellation.

• Journal of Aerospace System Engineering
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• v.16 no.4
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• pp.60-67
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• 2022

An Electro-Optical Tracking System (EOTS) is an electric optical system with EO/IR cameras, laser sensors, and an IMU. The EOTS calculates coordinates of targets, using attitude and acceleration measured by the IMU. In particular for an armed aircraft, the performance of the weapon system depends on how quickly and accurately it acquires the target coordinates. The IMU should be operated after alignment is complete, to meet the coordinate accuracy required by the weapon system so the initial stabilization time of the IMU should be reduced, by quickly measuring the attitude and acceleration. Alignment is the process of determining the initial attitude by resolving the attitude error of the IMU, and the IMU of mission equipment such as an airborne EOTS, uses velocity matching based on the velocity from GPS/INS for aircraft navigation. In this paper, a method is presented to improve the transfer alignment performance of the airborne EOTS, by maneuvering aircraft and the mission equipment. First, the performance factor of the alignment was identified, as a heading error through the velocity matching model and simulation results. Then acceleration maneuvers and attitude changes were necessary, to correct the error. As a result of flight tests applied to an EOTS on a OOO aircraft system, the transfer alignment performance was improved as the duration time was decreased, by more than five times when the aircraft accelerated by more than 0.2g and the EOTS was moving until 6.7deg/s.

• The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.10 no.6
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• pp.96-103
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• 1996

This paper describes the electron transport characteristics in SF6 gas calculated for range of E/N values from 150~ 800[Td) by the Monte Carlo simulation and Boltzmann equation method using a set of electron collision cross sections detennined by the authors and the values of electron swarm parameters are obtained by TOF method. The results gRined that the values of the electron swarm parameters such as the electron drift velocity, the electron ionization or Rttachment coefficients, longitudinal and transverse diffusion coefficients agree with the experimental and theoretical for a range of E/N. The properties of electron avalanches is concerned electron energy non--equilibrium region. The electron energy distributions function were analysed in sulphur hexafluoride at E/N : 500~800[Td) for a case of non-equilibrium region in the mean electron energy. The validity of the results obtained has been confilll1ed by a TOF method.

• Magazine of the Korean Society of Agricultural Engineers
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• v.38 no.5
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• pp.95-105
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• 1996

This study was performed to evaluate the mechanical properties of permeable polymer concrete using fillers and unsaturated polyester resin. The following conclusions were drawn; 1. The unit weight was in the range of 1, 663~ l, 892kg/$cm^3$, the weights of those concrete were decreased 18~28% than that of the normal cement concrete. 2. The highest strength was achieved by fly ash filled permeable polymer concrete, it was increased 22% by compressive strength, 190% by tensile strength and 192% by bending strength than that of the normal cement concrete, respectively. 3. The external strength of permeable pipe was in the range of 3, 083~3, 793kg/m, the external strengths of those concrete were increased 2~26% than that of the normal cement concrete. Accordingly, these permeable polymer concrete pipe can be used to the members and structures which need external strength. 4. The static modulus of elasticity was in the range of $5.7{\times} 10^4 ~ 15.4{\times} 10{^4}kg/cm^2 $, which was approximately 35~64% of that of the normal cement concrete. Fly ash filled permeable polymer concrete was showed relatively higher elastic modulus. The poisson's number of permeable polymer concrete was less than that of the normal cement concrete. 5. The dynamic modulus of elasticity was in the range of $83{\times} 10^3 ~ 211{\times} 10{^3}kg/cm^2 $, which was approximately Ins compared to that of the normal cement concrete. Fly ash filled permeable polymer concrete was showed higher dynamic modulus. The dynamic modulus of elasticity were increased approximately 22~45% than that of the static modulus. 6. The ultrasonic pulse velocity was in the range of 2, 584 ~ 3, 587m/sec, . which was showed about the same compared to that of the normal cement concrete. Fly ash filled permeable polymer concrete was in the range of$0.58~8.88 {\ell}/cm^2/hr$, , and it was larglely dependent upon the mixing ratio. These concrete can be used to the structures which need water permeability.

• Journal of Korean Society for Geospatial Information Science
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• v.25 no.2
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• pp.21-29
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• 2017

For the efficient and stable operation of autonomous vehicles or advanced driver assistance systems being actively studied nowadays, it is important to determine the positions of the vehicle accurately and economically. A satellite based navigation system is mainly used for positioning, but it has a limitation in signal blockage areas. To overcome this limitation, sensor fusion methods including additional sensors such as an inertial navigation system have been mainly proposed but the high sensor cost has been a problem. In this work, we develop a vehicle position estimation algorithm using in-vehicle sensors and a low-cost imaging sensor without any expensive additional sensor. We determine the vehicle positions using the velocity and yaw-rate of a car from the in-vehicle sensors and the position and attitude of the camera based on the single photo resection process. For the evaluation, we built a prototype system, acquired test data using the system, and estimated the trajectory. The proposed algorithm shows the accuracy of about 40% higher than an in-vehicle sensor only method.