• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2588-2590
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• 2005

This paper presents an three dimension attitude of inertial navigation system(INS) for managing a transporter in shipyard by using low-cost inertial sensors. The GPS(Global Positioning System) shade field prevents from receiving information of position through GPS satellites, GIS(Geographic Information System) in shipyard, therefore TNS system plays an important part. This system is composed of tiny low-cost gyroscopes, accelerometers and a magnetic compass, and 3-dimension position is estimated by an indirect Kalman filter using the outputs of these inertial sensors.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.3
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• pp.200-206
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• 2005

In this paper, a redundancy management system for aircraft is studied, and FDI (Fault Detection and Isolation) algorithm of inertial sensor system is proposed. UAV system cannot allow triple or quadruple hardware redundancy due to the limitations on space and weight. In the UAV system with dual sensors, it is very difficult to identify the faulty sensor. Also, conventional FDI method cannot isolate multiple faults in a triple redundancy system. In this paper, hardware based FDI technique is proposed, which combines a parity equation approach with the wavelet based technique, which is a model-free FDI method. To verify the effectiveness of the proposed FDI method, numerical simulations are performed.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.12
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• pp.1648-1656
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• 2018

The configuration of redundant inertial sensors are very important when considering navigation performance and fault detection and isolation (FDI) performance. By constructing a redundant sensor system using multiple inertial sensors, it is possible to improve the navigation performance and fault detection and isolation performance, which are highly related to the sensor configuration and allocation. In order to deploy multiple MEMS inertial measurement units effectively, a configuration and allocation methods considering navigation performance, fault detection and isolation performance, and lever arm effect in one plane are presented, and the performance is analyzed through simulation in this research. From the results, it is confirmed that the proposed configuration and allocation method can improve navigation, FDI, and lever arm effect rejection performances more effectively by more than 70%.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.11a
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• pp.165-166
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• 2008

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.959-960
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• 2010

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.10
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• pp.53-59
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• 2004

A calibration technique for a redundant IMU with low-grade inertial sensors is proposed. In order to calibrate the redundant IMU that can detect and isolate a faulty sensor, the fundamental coordinate frames in the IMU are defined and the IMU error is modeled based on the frames. Equations to estimate the error coefficients of the redundant IMU are formulated, and a test sequence using the 2-axis rate table is also presented. Finally, a redundant IMU with cone configuration is implemented using the low-grade inertial sensors and the performance of the proposed technique is verified by some experiments.

• Journal of Ocean Engineering and Technology
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• v.11 no.1
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• pp.96-96
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• 1997

This paper presents a Inertial Measuring Unit(IMU) for motion measurement of an AUV. The IMU is composed of three parts: inertial sensors with three servo accelerometers and three rate gyros, an analog/digital interface board, and a signal processing board with TMS320C31 DSP processor. The IMU is a class of strap-down inwetial navigation system does not applicable directly to the navigation system in consequence of the AUV and integrated sensors for an integrated navigation system of the AUV. Fast calculstion of direction cosine matrix for the coordinate transformation body to reference is obtained through the DSP processor. A switching algotrithm is used to lessen the low frequency drift effect of the gyros in the vertical plane with use of low pass filtering of the signal of the accelerometers.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.5
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• pp.454-464
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• 2001

In this paper, a personal navigation system is developed using GPS and dead reckoning sensors. This personal navigation system can be used to track a person inside a building, on an urban street, and in the mountain area. GPS can provide accurate absolute position information, but it cant be used without receiving enough satellite signals. Although the inertial sensors such as gyro an accelerometer and be used without this diggiculty, the inertial sensors severely suffer from their drift errors and the magne-tometer can be easily distorted by surrounding electromagnetic field. GPS and DR sensors can be inte-grated together to overcome these problems. A new personal navigation system that can be carried wit person is developed. A pedometer. actually vertically mounted accelerometer, detects ones footstep and gyro detects heading angle. These DR sensors are integrated with GPS and the humans walking pattern provides additional navigation information for compensating the DR sensors. The field testes are performed to evaluated the proposed navigation algorithm.

• Aerospace Engineering and Technology
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• v.9 no.1
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• pp.50-59
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• 2010

In this paper, the alignment and navigation results by INGU(Inertial Navigation and Guidance Unit) onboard software and by Inertial Explorer which is a post-processing software specialized for IMU(Inertial Measurement Unit) are compared for identification of inertial sensor error models and estimation of alignment and navigation errors for KSLV-I INGU. For verification of the IMU error estimated by Kalman Filter of Inertial Explorer, the covariance parameters of inertial sensor error model state are identified by using stochastic error model of inertial sensors estimated by Allan variance and the alignment and navigation test with static condition and the land navigation test with dynamic condition are carried out. The validity of inertial sensor model for KSLV-I INGU is verified by comparison the alignment and navigation results of INGU on-board software and Inertial Explorer.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.11
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• pp.1011-1017
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• 2012

Augmented Reality is being widely used not only for Smartphone users but also in industries such as maintenance, construction area. With smartphone, due to the low localization accuracy and the requirement of special infrastructure, current LBS (Localization Based Service) is limited to show P.O.I. (Point of Interest) nearby. Improvement of IMU (Inertial Measurement Unit) based deadreckoning is presented in this paper. Additional sensors such as the magnetic compass and magnetic flux sensors are used as well as the accelerometer and the gyro for getting more movement information. Based on the pedestrian movement, appropriate sensor information is selected and the complementary filter is used in order to enhance the accuracy of the localization. Additional sensors are used to measure the movements of the upper body and the head and to provide the user's line of sight.