• Journal of Institute of Control, Robotics and Systems
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• v.6 no.12
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• pp.1126-1132
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• 2000

In this paper we propose an angular rate and acceleration matching method for initial transfer alignment in aircraft. The conventional angular rate and acceleration matching method performs compensation for the lever arm effects between the master and slave INS before initial alignment. However, the conventional method does not take the flexure angular acceleration into account and thus is not effective when the flexure angular acceleration is large. We propose a new angular rate and acceleration matching method to cope with the flexure acceleration between the master and slave INS and compare the results with those of the conventional method by simulation. The simulation results show that the proposed matching method is better than the conventional matching method in case of large flexure acceleration.

• International Journal of Aeronautical and Space Sciences
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• v.3 no.1
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• pp.86-94
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• 2002

The initial alignment of inertial platform for navigation system was considered. An adaptive filtering technique is developed for the system with unknown and varying sway disturbance. It is assumed that the random sway motion is the second order ARMA(Auto Regressive Moving Average) model and performed parameter identification for unknown parameters. Designed adaptive filter contain both a Kalman filter and a self-tuning filter. This filtering system can automatically adapt to varying environmental conditions. To verify the robustness of the filtering system, the computer simulation was performed with unknown and varying sway disturbance.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.29-33
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• 1993

This paper suggests Kalman filter formulation using by precision GINS output angle for SDINS initial transfer alignment of missile. The Kalman filter model was derived from quaternion parameters and the transfer alignment system by angle matching method satisfies azimuth observability in horizontal angular motion. The estimated error of SDINS attitude settles to less 3mrad(1.sigma.) in 200 seconds at proper sea state.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.2
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• pp.183-189
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• 2011

An alignment algorithm for strapdown inertial navigation systems is proposed, in which the psi angle error model is utilized. The proposed alignment algorithm is derived from the Psi angle error model which has been widely used in real-time navigation systems. The equation for expecting steady state alignment error is also derived. The proposed algorithm was verified through real-time experiments. Experimental results show that the proposed algorithm can be used in the inertial navigation system and GNSS/INS integrated navigation system to get an initial attitude of the vehicle.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.115-120
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• 2006

This article propose a new idea of developing a hybrid scheme to achieve faster INS alignment with higher accuracy using a novel procedure to estimate the initial attitude angles that combines a Kalman filter and Adaptive Neuro-Fuzzy Inference System architecture. A tactical grade inertial measurement unit was applied to verify the performance of proposed scheme in this study. The preliminary results indicated the outstanding improvements in both time consumption for fine alignment process and accuracy of estimated attitude angles, especially in heading angles. In general, the improvement in terms of time consumption and the accuracy of estimated attitude estimated accuracy reached 80% and 70% respectively during alignment process after compensating the attitude angles estimated by an extended Kalman filter with 15 states using proposed approach. It is worth mentioned that the proposed approach can be implemented in general real time navigation applications.

• International Journal of Ocean System Engineering
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• v.1 no.3
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• pp.165-170
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• 2011

In this paper, for the accurate estimation of the position and orientation of the UUV (unmanned underwater vehicle), an AHRS (Attitude Heading Reference System) was developed using the IMU (inertial measurement unit) sensor which provides information on acceleration and orientation in the object coordinate and the initial alignment algorithm and the E-KF (extended Kalman Filter). The initial position and orientation of the UUV are estimated using the initial alignment algorithm with 3-axis acceleration and geomagnetic information of the IMU sensor. The position and orientation of the UUV are estimated using the AHRS composed of 3-axis acceleration, velocity, and geomagnetic information and the E-KF. For the performance test of the orientation estimation of the AHRS, a testbed using IMU sensor(ADIS16405) and DSP28335 coded with an E-KF algorithm was developed and its performance was verified through tests.

• 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.

• The korean journal of orthodontics
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• v.48 no.2
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• pp.90-97
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• 2018

Objective: The aim of this study was to assess the analgesic effect of a single application of low-level laser therapy (LLLT) on spontaneous pain and pain on chewing after placement of initial archwires. Methods: Forty-two patients (26 women, 16 men) were randomly recruited for this split-mouth randomized clinical trial. Each patient received super-elastic nickel-titanium (NiTi) initial archwires (0.012, 0.014, 0.016, and 0.018-inch [in]) in the maxilla for leveling and alignment for an interval of 4 weeks between archwires. One side of the mouth was randomly designated as experimental, while the other side served as placebo. After insertion of each archwire, the experimental side was irradiated with a diode laser for 3 seconds each on 5 points facially and palatally per tooth, from the central incisor to first molar. On the placebo side, the laser device was held the same way but without laser application. A numerical rating scale was used to assess the intensity of spontaneous and masticatory pain for the following 7 days. The Mann-Whitney U test was used to compare pain scores between sides. Results: Patients in the LLLT group exhibited significantly lower mean scores for spontaneous pain after insertion of the initial two archwires (0.012-in and 0.014-in NiTi; p < 0.05), while there was no significant difference for 0.016-in and 0.018-in wires between the LLLT and placebo groups. LLLT significantly reduced chewing pain scores (p < 0.05) for all archwires. Conclusions: A single dose of LLLT considerably lessened postoperative pain accompanying the placement of super-elastic NiTi wires for initial alignment and leveling.

• Journal of The Korean Society of Integrative Medicine
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• v.1 no.1
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• pp.33-43
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• 2013

Purpose : The study was designed to identify the change of body alignment according to surface during walking with backpack. Methods : Healthy twenty people(10 men & 10 women) participated in this study. The exclusion criteria were orthopedic and neurologic disease. Initial alignment measurements were performed. Results were evaluated by angle and range from earlobe to acromion, acromion to malleolus and earlobe to malleolus in the GPS system. Results : On the hard surface, the distance and angle from malleolus to earlobe increased after walking with backpack which is 20 % of weight(p<.05). In addition the distance from malleolus to acromion and the angle from earlobe to acromion increased(p<.05). On the soft surface, on the other hand, the distance and angle from malleolus to earlobe decreased after walking with backpack which is 20 % of weight(p<.05). There was no relationship between the change of the surface and the body's alignment(p>.05). Conclusion : Consequently, the body alignment was changed by backpack which is 20 % of weight, but body alignment wasn't changed by the surface. So more study need to be surveyed regard of this.

• The Bulletin of The Korean Astronomical Society
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• v.36 no.2
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• pp.53.1-53.1
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• 2011

We analyze the halo and galaxy catalogs from the Millennium simulations at redshifts z=0, 0.5, 1 to determine the alignment profiles of cluster galaxies in terms of the matter density correlation coefficient and discuss a cosmological implication our result has for breaking parameter degeneracies. For each selected cluster, we measure the alignment between the major axes of the pseudo inertia tensors from all satellites within cluster's virial radius and from only those satellites within some smaller radius. Then we average the measured values over the similar-mass sample to determine the cluster galaxy alignment profile as a function of top-hat scale difference at each redshift. It is shown that the alignment profile of cluster galaxies is well approximated by a power-law of the nonlinear density correlation coefficient that is independent of the power spectrum normalization and bias factor. The alignment profile of cluster galaxies is found to have higher amplitude and lower power-law index when averaged over the larger-mass sample and to have rather weak redshift-dependence. This result is consistent with the picture that the satellite galaxies retain the memory of the external tidal fields right after merging and infalling into the clusters but they gradually lose the initial alignment tendency as the cluster's relaxation proceeds. Demonstrating that the nonlinear density correlation coefficient varies sensitively with the density parameter and neutrino mass fraction, we discuss a potential power of the cluster galaxy alignment profile as an independent probe of cosmology.