• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.1
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• pp.276-284
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• 2013

This paper considers the transfer alignment in the inertial navigation system and the observability analysis is performed for velocity matching. The state variable of the Kalman filter is modeled including the lever arm error and the measurement equation is obtained. The SOM(Stripped Observability Matrix) method is used for the observability analysis for various maneuvering conditions of the vehicle, which gives the full state observability condition as a specific maneuver sequence of the vehicle. While the observability analysis of a lever arm effect in the existing papers is mainly performed by simulations, we performed it analytically by the observability analysis method. The analysis result is verified using the computer simulations.

• International Journal of Aeronautical and Space Sciences
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• v.17 no.2
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• pp.222-231
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• 2016

This paper proposes a new method achieving computationally efficient attitude reference system for low cost strapdown sensors and microprocessor platform. The main idea in this method is to define and compare velocity differential vectors, geometrically computed from INS and GPS data with different update rate, for generating attitude error measurements which is further used for filter construction. A quaternion based Kalman filter configuration is applied for the attitude estimation with the adapted measurement model of differential vector comparison. Linearized model for Extended Kalman Filter and low pass filtered characteristics of measurement greatly extend the affordability of the proposed algorithm to the field of simple low cost embedded systems. For performance verification, experiment are done employing a practical low cost MEMS IMU and GPS receiver specification. Performance comparison with a high grade navigation system demonstrated good estimation result.

• Journal of Advanced Navigation Technology
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• v.16 no.6
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• pp.927-934
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• 2012

In this paper, we present relative positioning algorithm for moving land vehicle using GPS, MEMS IMU and B-CDMA module. This algorithm does not calculate precise absolute position but calculates relative position directly, so additional infrastructure and I2V communication device are not required. Proposed algorithm has several steps. Firstly, unbiased relative position is calculated using pseudorange difference between two vehicles. Simultaneously, the algorithm estimates position of each vehicle using GPS/INS integration. Secondly, proposed algorithm performs filtering and finally estimates relative position and relative velocity. Using proposed algorithm, we can obtain more precise relative position for moving land vehicles with short time interval as IMU sensor has. The simulation is performed to evaluate this algorithm and the several field tests are performed with real time program and miniature vehicles for verifying performance of proposed algorithm.

• Geotechnical Engineering
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• v.11 no.3
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• pp.55-68
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• 1995

This paper is the analysis of the relationship between RQD and decay constant, blasting vi bration constant of cube root scaling and square root scaling, through experimental blast ins test in subway construction for excavation of shaft hole by bottom blasting. The magnitude of particle velocity is largely effected by the distance from blasting source, the maximum charge per delay and the properties of ground. In order to verify the effects of ground properties on blast-induced vibration, the relation-ship between magnitude of blasting vibration and Rock Quality Disignation which stands for joint property was studied. The results of test are verified that blasting vibration constant "K" and the absolute value("n") of decay constant relatively increse as RQD increased. According to the result, it can be predict the particle velocity by the blast -induced vibration in bottom blasting pattern.om blasting pattern.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1373-1378
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• 2007

Metal forming ins the process changing shapes and mechanical properties of the workpiece without initial material reduction through plastic deformation. Above all, because of hot working carried out above recrystallization temperature can be generated large deformation with one blow, it can produce with forging complicated parts or heat resisting super alloy such as Inconel 718 has the worst forgeability. In this paper, we established optimal variation of hot heading precess of the Inconel 718 used in heat resisting component and evaluated mechanical properties hot worked produce. Die material is SKD61 and initial temperature is $300^{\circ}C$. Initial billet temperature and punch velocity changed, relatively. Friction coefficient is 0.3 as lubricated condition of hot working. CAE is carried out suing DEFORM software before making the tryout part, and it is manufactured 150 ton screw press with optimal condition. It is known that forming load was decreased according to decreasing punch velocity.

• IEIE Transactions on Smart Processing and Computing
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• v.6 no.1
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• pp.1-9
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• 2017

This paper proposes to improve the performance of a strap down inertial navigation system using a foot-mounted low-cost inertial measurement unit/magnetometer by configuring an attitude and heading reference system. To track position accurately and for attitude estimations, considering different dynamic constraints, magnetic measurement and a zero velocity update technique is used. A conventional strap down method based on integrating angular rate to determine attitude will inevitably induce long-term drift, while magnetometers are subject to short-term orientation errors. To eliminate this accumulative error, and thus, use the navigation system for a long-duration mission, a hybrid configuration by integrating a miniature micro electromechanical system (MEMS)-based attitude and heading detector with the conventional navigation system is proposed in this paper. The attitude and heading detector is composed of three-axis MEMS accelerometers and three-axis MEMS magnetometers. With an absolute algorithm based on gravity and Earth's magnetic field, rather than an integral algorithm, the attitude detector can obtain an absolute attitude and heading estimation without drift errors, so it can be used to adjust the attitude and orientation of the strap down system. Finally, we verify (by both formula analysis and from test results) that the accumulative errors are effectively eliminated via this hybrid scheme.

• 한국신재생에너지학회:학술대회논문집
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• 2006.06a
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• pp.517-520
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• 2006

The Korean peninsula has a number of coastal sites where the rhythmic rising and lowering of water surface due to tides results in strong tidal current. The kinetic energy of these currents can be efficiently exploited by use of tidal current turbines. The pilot tidal current power plant is to be constructed at the Uldolmok narrow channel between J info and Haenam, Our ins next Year, and extensive coastal engineer ing research works have been carried out. This paper describes and analyzes some observation results of field test about the efficiency of Helical turbine for tidal current power plant. The efficiency of turbine, which is diameter 2.2m and height 2.5m, is evaluated meximum RPM, torque, and current velocity. The tested turbines had the maximum efficiencies of the bounds of 25 to 35% in the current velocity range between 1.4 and 2.6 m/s. This result shows that the pilot tidal current power plant needs three helical turbines with diameter 3.0m and height 3.6m to produce electric power 500kW.

• Proceedings of the KSME Conference
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• 2007.05b
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• pp.3209-3214
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• 2007

This study numerically investigates the unsteady flow and acoustic characteristics of a flapping wing using a hydrodynamic/acoustic splitting method. The Reynolds number based on the maximum translation velocity of the wing is Re=8800 and Mach number is M=0.0485. The flow around the flapping wing is predicted by solving the two-dimensional incompressible Navier-Stokes equations (INS) and the acoustic field is calculated by the linearized perturbed compressible equations (LPCE), both solved in moving coordinates. Numerical results show that the hovering sound is largely generated by wing translation (transverse and tangential), which have different dipole sources with different mechanisms. As a distinctive feature of the flapping sound, it is also shown that the dominant frequency varies around the wing.

• Journal of the Korea Institute of Military Science and Technology
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• v.10 no.1
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• pp.14-21
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• 2007

This paper proposes SDINS(strapdown inertial navigation system) transfer alignment method for vertical launcher using an adaptive filter in the ship. First, the velocity and attitude matching transfer alignment method is designed to align SDINS for vertical launcher. Second, the adaptive filter is employed to estimate measurement noise variance in real time using the residual of measurements. Because it is difficult to decide measurement noise variance when noise properties of the ship SDINS are changed. To verify its performance, it is compared with the EKF(Extended Kalman filter) using uncorrect measurement variance. The monte carlo simulation results show that proposed method is more effective in estimating attitude angle than EKF.

• Journal of Ocean Engineering and Technology
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• v.28 no.6
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• pp.566-573
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• 2014

This paper presents the results of an integrated navigation performance analysis for selecting the sensor of an unmanned underwater vehicle (UUV) using Monte Carlo numerical simulation. An inertial measurement unit (IMU) and Doppler velocity log (DVL) are considered to build the integrated navigation system. The position error and price of the sensor are selected as performance indices to evaluate the volunteer integrated navigation systems. Monte-Carlo simulation is introduced to analyze the circular error probability (CEP) and its variance. Simulation results provide the proper sensor combination for integrated navigation in relation to the performance and price.