• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.23 no.2
• /
• pp.101-108
• /
• 2005

Inertial Navigation System has been used extensively to determine the position, velocity and attitude of the body. An INS is very expensive, however, heavy, power intensive, requires long setting times and the accuracy of the system is degraded as time passed due to the accumulated error. Global Positioning System(GPS) receivers can compensate for the Inertial Navigation System with the ability to provide both absolute position and attitude. This study describes a method to improve both the accuracy of a body positioning and the precision of an attitude determination using GPS antenna array. Existing attitude determination methods using low-cost GPS receivers focused on the relative vectors between the master and the slave antennas. Then the positioning of the master antenna is determined in meter-level because the single point positioning with pseudorange measurements is used. To obtain a better positioning accuracy of the body in this research, a wireless internet is used as an alternative data link for the real-time differential corrections and dual-frequency GPS receivers which is expected to be inexpensive was used. The numerical results show that this system has the centimeter level accuracy in positioning and the degree level accuracy in attitude.

• Korean Journal of Remote Sensing
• /
• v.24 no.3
• /
• pp.223-233
• /
• 2008

In the mid 90's, the U.S. government released images acquired by the first generation of photo reconnaissance satellite missions between 1960 and 1972. The Declassified Intelligent Satellite Photographs (DISP) from the Corona mission are of high quality with an astounding ground resolution of about 2 m. The KH-4A panoramic camera system employed a scan angle of $70^{\circ}$ that produces film strips with a dimension of $55\;mm\;{\times}\;757\;mm$. Since GPS/INS did not exist at the time of data acquisition, the exterior orientation must be established in the traditional way by using control information and the interior orientation of the camera. Detailed information about the camera is not available, however. For reconstructing points in object space from DISP imagery to an accuracy that is comparable to high resolution (a few meters), a precise camera model is essential. This paper is concerned with the derivation of a rigorous mathematical model for the KH-4A/B panoramic camera. The proposed model is compared with generic sensor models, such as affine transformation and rational functions. The paper concludes with experimental results concerning the precision of reconstructed points in object space. The rigorous mathematical panoramic camera model for the KH-4A camera system is based on extended collinearity equations assuming that the satellite trajectory during one scan is smooth and the attitude remains unchanged. As a result, the collinearity equations express the perspective center as a function of the scan time. With the known satellite velocity this will translate into a shift along-track. Therefore, the exterior orientation contains seven parameters to be estimated. The reconstruction of object points can now be performed with the exterior orientation parameters, either by intersecting bundle rays with a known surface or by using the stereoscopic KH-4A arrangement with fore and aft cameras mounted an angle of $30^{\circ}$.

• Journal of Environmental Science International
• /
• v.6 no.3
• /
• pp.267-276
• /
• 1997

It has been studded that combustion and the production of air pollution of anthracite - bituminous coal blend In a fluidized bed coal combustor, The objects of thIns study were to investigate mixing characteristics of the particles as well as the combustibility of the low grade domestic anthracite coal and Imported h19h calorific bltununous coal in the fluidized bed coal combustor. They were used as coal samples ; the domestic low grade anthracite coal with heating value of 2,010kca1/kg and the Imported high grade bituminous coal with beating value of 6,520kca1/kg. Also, the effects of air flow rate and anthracite fraction on the reaching time of steady state condition have been studied. The experimental results are presented as follows. The time of reaching to steady state was affected by the temperature variation. The steady state time was about 120 minute at 300sc1h which was the fastest. It has been found that $O^2$ and $CO^2$ concentration were reached steady state at about 100 minute. It has been found that $O^2$ concentration decreased and $CO^2$ concentration increased as the height of fluidlzed bed Increased. It was found that splash zone was mainly located from 25cm to 35cm above distributor. Also, as anthracite traction Increased, the mass of elutrlatlon particles Increased, and $CO^2$ concentration decreased. As gk flow rate Increased,$O^2$ concentration decreased and $CO^2$ concentration increased. Regardless of anthracite fraction and flow rate, the uncombustible weight percentage according to average diameter of elutriation particles were approldmately high In the case of One Particles. As anthracite traction and k now rate Increased, elutriation ratio Increased. As anthracite fraction was increased, exit combustible content over feeding combustible content was Increased. Regardless of anthracite fraction, size distribution of Ued material from discharge was almost constant. Over bed temperature 85$0^{\circ}C$ and excess air 20% , the difference of combution efficiencies were little. It is estimate that the combustion condition In anthracite-bituminous coal blend combustion is suitable at the velocity 0.3m/s, bed temperature 85$0^{\circ}C$, the excess air 20%.

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